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Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)最新文献

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Fault detection using Luenberger-like observers 基于Luenberger-like观测器的故障检测
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.831414
F. W. Poon, D. Gu
{"title":"Fault detection using Luenberger-like observers","authors":"F. W. Poon, D. Gu","doi":"10.1109/CDC.1999.831414","DOIUrl":"https://doi.org/10.1109/CDC.1999.831414","url":null,"abstract":"Proposes an approach to fault detection by a structure of two observers which estimate the plant states decided by the plant input and the states affected by the fault respectively and explicitly. A design example is used to illustrate the proposed fault detection scheme.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114772013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A robustly stable output feedback saturated controller for the Boost DC-to-DC converter 用于Boost dc - dc变换器的鲁棒稳定输出反馈饱和控制器
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.831229
H. Rodríguez, Romeo Ortega, Gerardo Escobar
{"title":"A robustly stable output feedback saturated controller for the Boost DC-to-DC converter","authors":"H. Rodríguez, Romeo Ortega, Gerardo Escobar","doi":"10.1109/CDC.1999.831229","DOIUrl":"https://doi.org/10.1109/CDC.1999.831229","url":null,"abstract":"The problem of regulating the output voltage of the Boost DC-to-DC power converter has attracted the attention of many control researchers for several years now. Besides its practical relevance, the system is an interesting theoretical case study because it is a switched device whose averaged dynamics are described by a bilinear second order non-minimum phase system with saturated input, partial state measurement and a highly uncertain parameter-the load resistance. In this paper we provide a solution to the problem of designing an output-feedback saturated controller which ensures regulation of the desired output voltage and is, at the same time, insensitive to uncertainty in the load resistance. Furthermore, bounds on this parameter can be used to tune the controller so as to (locally) ensure robust performance, e.g., that the transient has no (under)over-shoot. The controller, which is designed following the energy-balancing methodology recently proposed by Ortega, van der Schaft and Maschke, is a simple static nonlinear output feedback, hence it is computationally less demanding than the industry standard lead-lag filters.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114944685","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 88
On controllability of linear stochastic systems 线性随机系统的可控性
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.830193
N. Mahmudov
{"title":"On controllability of linear stochastic systems","authors":"N. Mahmudov","doi":"10.1109/CDC.1999.830193","DOIUrl":"https://doi.org/10.1109/CDC.1999.830193","url":null,"abstract":"Several concepts of controllability for partially observable stochastic systems (complete controllability, approximate controllability, controllability) are discussed. It is shown that complete and approximate controllability notions are equivalent, and in turn they are equivalent to the controllability for linear stochastic systems controlled with Gaussian processes. Necessary and sufficient conditions for these concepts of controllability are derived. These criteria reduce to the well known rank condition.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114986989","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 286
Nonlinear observers: a circle criterion design 非线性观测器:圆准则设计
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.833315
M. Arcak, P. Kokotovic
{"title":"Nonlinear observers: a circle criterion design","authors":"M. Arcak, P. Kokotovic","doi":"10.1109/CDC.1999.833315","DOIUrl":"https://doi.org/10.1109/CDC.1999.833315","url":null,"abstract":"We design observers for a class of systems with monotone sector nonlinearities. The resulting nonlinear estimation error system is represented as the feedback interconnection of a linear system and a time-varying multivariable sector nonlinearity. Using LMI software, an observer gain matrix is computed to satisfy the circle criterion and, hence, to drive the estimation error to zero. The new observer is incorporated in output feedback control, as illustrated by an example.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117107651","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 60
General n-trailer, differential flatness and equivalence 一般n-拖车，差分平整度和等效
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.831237
C. Altafini
{"title":"General n-trailer, differential flatness and equivalence","authors":"C. Altafini","doi":"10.1109/CDC.1999.831237","DOIUrl":"https://doi.org/10.1109/CDC.1999.831237","url":null,"abstract":"We show, via an example, a possible way to place the concept of differential flatness into the more general setting of equivalence a la Cartan (1953). In particular we show that a general n-trailer, which is not differentially flat, is anyway equivalent to its differentially flat counterpart, namely the standard n-trailer, along any smooth input trajectory.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116328526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
On global properties of passivity based control of the inverted pendulum 倒立摆无源控制的全局特性研究
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.831305
A. Shiriaev, H. Ludvigsen, O. Egeland, A. Pogromsky
{"title":"On global properties of passivity based control of the inverted pendulum","authors":"A. Shiriaev, H. Ludvigsen, O. Egeland, A. Pogromsky","doi":"10.1109/CDC.1999.831305","DOIUrl":"https://doi.org/10.1109/CDC.1999.831305","url":null,"abstract":"The problem of stabilization of the inverted pendulum on a cart is considered. The proposed technique is based on the passivity of the inverted pendulum and reflects its global properties. The new feedback regulators provide that any solution of the closed loop system, except for initial conditions lying on some 2-dimensional manifold, will be in any neighbourhood of the unstable equilibrium with zero displacement of the cart.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123213562","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 67
LPV control of two dimensional wing flutter 二维机翼颤振的LPV控制
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.831394
E. Lau, A. Krener
{"title":"LPV control of two dimensional wing flutter","authors":"E. Lau, A. Krener","doi":"10.1109/CDC.1999.831394","DOIUrl":"https://doi.org/10.1109/CDC.1999.831394","url":null,"abstract":"We utilize a standard linear model for the control of a thin airfoil in subsonic flow. The airfoil is modeled by a 2D section with three degrees of freedom: plunge, pitch angle and flap angle. This is a 6D linear system with states: plunge, pitch angle, flap angle and their rates. The system has three inputs: the lift and moment generated by the air flowing over the wing and the torque applied at the flap hinge. This torque consists of two parts: the torque generated by the air flow and the external torque that can be applied by a motor. The goal is to use feedback to stabilize the airfoil at or above its flutter speed. We consider several standard control strategies. The simplest is to assume that all states are measurable and to design a stabilizing state feedback using the linear quadratic regulator theory. A more realistic approach is to assume that only some or all of the six physical states are measurable and to use dynamic state feedback based on the linear quadratic Gaussian approach.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123501000","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
A geometric approach for fault detection and isolation in dynamic uncertain systems 动态不确定系统故障检测与隔离的几何方法
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.831415
F. Hamelin, C. Defranoux, F. Rambeaux
{"title":"A geometric approach for fault detection and isolation in dynamic uncertain systems","authors":"F. Hamelin, C. Defranoux, F. Rambeaux","doi":"10.1109/CDC.1999.831415","DOIUrl":"https://doi.org/10.1109/CDC.1999.831415","url":null,"abstract":"Formulates in an original form the robust fault detection and isolation (RFDI) problem and proposes two approaches to solve it. The first one is aimed at fault detection while the second one is aimed at fault isolation. A simulation example illustrates these notions and shows the interest for using in parallel these two methods in order to detect and isolate fault as well as possible.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123707515","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Teaching multivariable control using the quadruple-tank process 运用四缸过程进行多变量控制教学
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.832889
K. H. Johansson, Alexander Horch, Olle Wijk, Anders Hansson
{"title":"Teaching multivariable control using the quadruple-tank process","authors":"K. H. Johansson, Alexander Horch, Olle Wijk, Anders Hansson","doi":"10.1109/CDC.1999.832889","DOIUrl":"https://doi.org/10.1109/CDC.1999.832889","url":null,"abstract":"A multivariable laboratory process is presented together with its use in a graduate control course. The process is called the quadruple-tank process and demonstrates a multivariable level control problem. The multivariable zero dynamics of the system can be made both minimum phase and nonminimum phase by simply changing a valve. This makes the quadruple-tank process suitable for illustrating many concepts in linear and nonlinear multivariable control. In the paper some of these are described together with the basic setup of the process. Two computer exercises and one laboratory exercise have been developed as part of a course in multivariable and nonlinear control. These are detailed and some experience from the course is presented.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122141026","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 114
Robust adaptive tracking control with L/sub 2/-gain disturbance attenuation for electrically-driven robot manipulators 基于L/sub /增益干扰衰减的电驱动机器人鲁棒自适应跟踪控制
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI: 10.1109/CDC.1999.827797
C. Ishii, T. Shen, Z. Qu
{"title":"Robust adaptive tracking control with L/sub 2/-gain disturbance attenuation for electrically-driven robot manipulators","authors":"C. Ishii, T. Shen, Z. Qu","doi":"10.1109/CDC.1999.827797","DOIUrl":"https://doi.org/10.1109/CDC.1999.827797","url":null,"abstract":"This paper develops a new Lyapunov recursive design for the robust adaptive tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty. The novelty is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L/sub 2/-gain constraint for the tracking performance.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122150838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
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