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Proceedings of the 28th IEEE Conference on Decision and Control,最新文献

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Some aspects of the adaptive control of stochastic evolution systems 随机进化系统自适应控制的若干方面
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70214
T. Duncan, B. Pasik-Duncan
{"title":"Some aspects of the adaptive control of stochastic evolution systems","authors":"T. Duncan, B. Pasik-Duncan","doi":"10.1109/CDC.1989.70214","DOIUrl":"https://doi.org/10.1109/CDC.1989.70214","url":null,"abstract":"An adaptive control problem for some linear stochastic evolution systems is formulated and solved. The adaptive control problem is dichotomized into an identification problem and a control problem. For the identification of the unknown parameters, a family of least-squares estimates is shown to be strongly consistent. For the control problem the family of average costs for the optimal stationary controls based on the estimates of the unknown parameters is shown to converge to the optimal average cost. To verify this optimality, it is shown that the solution of the Riccati equation is a continuous function of the unknown parameters in the uniform operator topology.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125437172","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: 4
Iterative learning for trajectory control 轨迹控制的迭代学习
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70243
K. L. Moore, M. Dahleh, S. Bhattacharyya
{"title":"Iterative learning for trajectory control","authors":"K. L. Moore, M. Dahleh, S. Bhattacharyya","doi":"10.1109/CDC.1989.70243","DOIUrl":"https://doi.org/10.1109/CDC.1989.70243","url":null,"abstract":"Learning control is an iterative approach to the problem of improving transient behavior for processes that are repetitive in nature. A complete analysis of the learning control problem is given for the case of linear, time-invariant plants and controllers. The analysis offers insights into the nature of the solution of learning control schemes. First, an approach based on parameter estimation is given. Then, it is shown that for finite-horizon problems it is possible to design a learning control algorithm which converges in one step. A brief simulation example is presented to illustrate the effectiveness of iterative learning for controlling the trajectory of a nonlinear robot manipulator.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115216561","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: 28
Probability density update for a distributed system based on unnormalized local densities in the continuous-discrete case 连续离散情况下基于非归一化局部密度的分布式系统概率密度更新
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70185
C. McCullough
{"title":"Probability density update for a distributed system based on unnormalized local densities in the continuous-discrete case","authors":"C. McCullough","doi":"10.1109/CDC.1989.70185","DOIUrl":"https://doi.org/10.1109/CDC.1989.70185","url":null,"abstract":"Results have been published that give the conditional probability density update for a distributed nonlinear stochastic system that is based on the conditional density updates for the local estimators. However, the local densities are required to be solutions to nonlinear equations, which are unsolvable in the general case. A formulation that uses unnormalized local densities, which are more tractable, and yet produces the same normalized density for the global system as the previous method is given. This new result is applicable to a much wider variety of problems than the former due to the larger body of problems for which unnormalized densities are available.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115512167","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: 0
A non-iterative method for design of linear robust controllers 线性鲁棒控制器的非迭代设计方法
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70436
F. Jabbari, W. Schmitendorf
{"title":"A non-iterative method for design of linear robust controllers","authors":"F. Jabbari, W. Schmitendorf","doi":"10.1109/CDC.1989.70436","DOIUrl":"https://doi.org/10.1109/CDC.1989.70436","url":null,"abstract":"A procedure is derived for determining a linear control law which guarantees asymptotic stability for an uncertain system. The technique is simpler to use than existing techniques since it does not require a numerical search procedure, but allows the control law to be obtained from some simple formulas.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116003020","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
Sliding regimes in pulse-width-modulation systems design 脉宽调制系统设计中的滑动状态
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70559
H. Sira-Ramírez
{"title":"Sliding regimes in pulse-width-modulation systems design","authors":"H. Sira-Ramírez","doi":"10.1109/CDC.1989.70559","DOIUrl":"https://doi.org/10.1109/CDC.1989.70559","url":null,"abstract":"A design method is proposed for the specification of a variety of pulse-width-modulation (PWM) feedback controllers acting on plants described by nonlinear dynamical systems. It is first shown that an average model of the PWM-controlled system, derived by making an infinite sampling frequency assumption, is simply obtained by replacing the discontinuous control by a memoryless nonlinearity completely specified by the feedback duty ratio function. The average model captures the essential qualitative stability properties of the controlled system and, thus can be used to simplify the PWM controller design task considerably. The case of PWM regulators for linear plants can thus be systematically treated by traditional input-output design methods. Some examples are provided.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"239 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116159212","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
Adaptive control of constrained robots modeled by singular systems 基于奇异系统的约束机器人自适应控制
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70657
Ricardo Carelli, Rafael Kelly
{"title":"Adaptive control of constrained robots modeled by singular systems","authors":"Ricardo Carelli, Rafael Kelly","doi":"10.1109/CDC.1989.70657","DOIUrl":"https://doi.org/10.1109/CDC.1989.70657","url":null,"abstract":"An adaptive controller is presented for constrained robots with uncertain dynamic model parameters. The controller design has been made following a proposed theoretical framework. It is shown that global tracking is verified in the sense that zero steady-state motion error and bounded force error are obtained. Some robustness results are presented, and a simulation example is given to illustrate the performance of the adaptive controller.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122821386","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: 34
The linearized dynamic robot model: efficient computation and practical applications 线性化机器人动态模型:高效计算和实际应用
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70430
J. Murray, D.W. Johnson
{"title":"The linearized dynamic robot model: efficient computation and practical applications","authors":"J. Murray, D.W. Johnson","doi":"10.1109/CDC.1989.70430","DOIUrl":"https://doi.org/10.1109/CDC.1989.70430","url":null,"abstract":"A method for the recursive evaluation of linearized dynamic robot models is presented. The method is derived directly from the recursive Newton-Euler equations for tree-structured manipulators with rotational, translational and screw joints. Applications to optimal path planning and nonlinear decoupling control are discussed.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"287 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114404464","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: 9
A decentralized control strategy for dynamic routing 动态路由的分散控制策略
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70237
A. Iftar, E. Davison
{"title":"A decentralized control strategy for dynamic routing","authors":"A. Iftar, E. Davison","doi":"10.1109/CDC.1989.70237","DOIUrl":"https://doi.org/10.1109/CDC.1989.70237","url":null,"abstract":"A decentralized controller for dynamic routing in multidestination data-communication networks is presented. A dynamic model, which can incorporate arbitrary, differing processing delays at different nodes, is developed to describe the network dynamics. The structure of the controller is motivated by an optimal control problem. It is shown that the controller has many desirable properties; it does not direct messages around a loop, and, in the absence of external input flows, it guarantees that the queues are cleared. Some simulation results are presented to illustrate the controller performance in a number of practical cases. They verify that the queue lengths remain reasonable when the input flow rates are moderate compared to the link capacities. The control strategy can also cope easily with modifications, expansions, and failures in the network.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114467512","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: 15
The fractional representations of a class of nonlinear systems 一类非线性系统的分数表示
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70269
A. Krener, Y. Zhu
{"title":"The fractional representations of a class of nonlinear systems","authors":"A. Krener, Y. Zhu","doi":"10.1109/CDC.1989.70269","DOIUrl":"https://doi.org/10.1109/CDC.1989.70269","url":null,"abstract":"Right and left coprime fractional representations are shown to exist for a special class of nonlinear systems that have both controller and observer forms. A generalized Bezout identity is given for this class of nonlinear systems. Using the controller form, it is possible to design a nonlinear feedback controller. The given system can be right factorized into a composite of a stable postprocessor and an inverse of a stable preprocessor. The right-coprimeness concept is based on this right factorization. When the postprocessor and preprocessor are combined, they form a higher dimensional system. The existence of a stable left inverse of this higher order system constitutes the authors' definition of right coprimeness.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121990030","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
A dynamic games approach to controller design: disturbance rejection in discrete time 控制器设计的动态博弈方法:离散时间干扰抑制
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70147
T. Başar
{"title":"A dynamic games approach to controller design: disturbance rejection in discrete time","authors":"T. Başar","doi":"10.1109/CDC.1989.70147","DOIUrl":"https://doi.org/10.1109/CDC.1989.70147","url":null,"abstract":"It is shown that the discrete-time disturbance-rejection problem, formulated in finite and infinite horizons, can be solved by making direct use of the available results on linear-quadratic zero-sum dynamic games. Under perfect state measurements the approach leads to a minimax controller which achieves the best performance bound, and also to a characterization of all linear controllers under which disturbance attenuation does not exceed a prescribed bound. For the former, the worst-case disturbance turns out to be a correlated random sequence with a discrete distribution, which means that the problem (viewed as a dynamic game between the controller and the disturbance) does not admit a pure-strategy saddle point. Also formulated is a stochastic version of the problem, where the disturbance is a partially stochastic process with fixed higher order moments (other than the mean). Here the minimix controller depends on the energy bound of the disturbance, provided that it is below a certain threshold. Several numerical studies are included to illustrate the main results.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122067635","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: 49
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