{"title":"Neuromorphic adaptive control","authors":"I. Bar-Kana, A. Guez","doi":"10.1109/CDC.1989.70449","DOIUrl":"https://doi.org/10.1109/CDC.1989.70449","url":null,"abstract":"A neuromorphic computing architecture for adaptive control of a class of nonlinear systems is presented. Starting with some prior assumptions about stabilizability of the plants, a stable unsupervised architecture is obtained. It is a parallel distributed architecture, and it is shown that it provides bounded tracking and asymptotic regulation, following a class of teacher models. The feasibility of the method is demonstrated for a robotic manipulator.<<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":"117025744","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}
{"title":"Analytical design of robust stabilization for linear continuous systems with uncertain parameters","authors":"H. Zhang, Y. Cui","doi":"10.1109/CDC.1989.70446","DOIUrl":"https://doi.org/10.1109/CDC.1989.70446","url":null,"abstract":"An analytic approach to robust control of linear continuous systems with uncertain parameters is proposed. The robust stabilization problem for linear continuous systems is studied by means of a discrete-type Riccati equation, using the fact that the equation can be used analytically to place the closed-loop poles of linear continuous systems in a prescribed region. Hence, the design procedure is explicit and much simpler than previous methods. To ensure the physical realizability of feedback stabilization, an auxiliary control dynamics similar to the Luenberger state observer is introduced.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"75 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":"128223919","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}
{"title":"An adaptive deadbeat stabilizer for power system dynamic stability","authors":"V. Rajkumar","doi":"10.1109/CDC.1989.70555","DOIUrl":"https://doi.org/10.1109/CDC.1989.70555","url":null,"abstract":"An adaptive deadbeat stabilizer developed to improve power system damping is discussed. The method involves normalized recursive least-squares estimation to yield a reduced-order state-space model of the power system. This reduced-order model is used to design the required deadbeat stabilizer recursively, along with an adaptive observer to estimate the unknown states.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"1 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":"129305452","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}
{"title":"Lossless cascade networks and stochastic estimation","authors":"H. Lev-Ari","doi":"10.1109/CDC.1989.70066","DOIUrl":"https://doi.org/10.1109/CDC.1989.70066","url":null,"abstract":"The notion of matrices with generalized displacement structure is introduced. An efficient procedure for Cholesky factorization of nonstationary covariances with such structure is presented. An inverse scattering interpretation of this procedure relates it to lossless cascade models with p+q-1 parameters per layer where (p, q) denotes the displacement inertia of the covariance matrix. Matrices with displacement inertia are of particular interest: they have given rise to cascade models that are lossless two-ports, with a single parameter per layer. The author uses the cascade model to construct Levinson-type recursions for the prediction polynomials associated with structured nonstationary covariances.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"37 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":"129702149","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}
{"title":"On the control of networks of vibrating strings and beams","authors":"G. Leugering, E. Schmidt","doi":"10.1109/CDC.1989.70580","DOIUrl":"https://doi.org/10.1109/CDC.1989.70580","url":null,"abstract":"The authors introduce nonlinear equations describing the vibrations in space of networks of elastic strings and beams. Linearization about an equilibrium configuration yields a hyperbolic system of linear equations coupled by conditions at the multiple nodes where several network members meet. The authors study the controllability of these systems by controls exercised at some nodes. The multiplier method yields a priori inequalities guaranteeing exact controllability, and hence stabilizability, for certain rudimentary networks.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"31 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":"129855526","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}
{"title":"Convergence of adaptive control schemes using least-squares estimates","authors":"P. kumar","doi":"10.1109/CDC.1989.70213","DOIUrl":"https://doi.org/10.1109/CDC.1989.70213","url":null,"abstract":"An examination is made of the stability, convergence, asymptotic optimality, and self-tuning properties of stochastic adaptive control schemes based on least-squares estimates of the unknown parameters, when the additive noise is i.i.d. and Gaussian, and the true system is of minimum phase. The author exploits the normal equations of the least-squares method to establish that all stable control law designs used in a certainty-equivalent (i.e. indirect) procedure generally yield a stable adaptive control system. Four results that characterize the limiting behavior precisely are obtained. These general results are specialized to establish the convergence, asymptotic optimality, and self-tuning properties of a variety of proposed adaptive control schemes.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"108 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":"130509824","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}
{"title":"Robotic force control by using estimated contact force","authors":"Han-Pang Huang, Wen-Liang Tzeng","doi":"10.1109/CDC.1989.70550","DOIUrl":"https://doi.org/10.1109/CDC.1989.70550","url":null,"abstract":"In general, the contact force, which is used in controller design for robotic compliant motion, can be either explicitly calculated through complicated computation or measured by expensive force sensors. A force control strategy using the estimated contact force is proposed. The estimation of the contact force and states is primarily based on their previous observer design. It is shown that the controller achieves asymptotic stability.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"PP 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":"126706850","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}
{"title":"Estimation of elastic coefficients for a two beam structure","authors":"L. White","doi":"10.1109/CDC.1989.70190","DOIUrl":"https://doi.org/10.1109/CDC.1989.70190","url":null,"abstract":"Consideration is given to the estimation of spatially dependent elastic parameters in a static distributed model of a simple structure composed of two beams at right angles. The potential energy functional of the system is formulated, and the existence of optimal estimators is proved for a regularized-output least-squares estimation problem. Regularity and approximation are discussed as well. The augmented Lagrange approach is used to incorporate the boundary conditions in a numerical algorithm.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"10 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":"126710093","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}
{"title":"Model-matching and factorization for nonlinear systems: a structural approach","authors":"G. Conte, C. Moog, A. Perdon","doi":"10.1109/CDC.1989.70286","DOIUrl":"https://doi.org/10.1109/CDC.1989.70286","url":null,"abstract":"The authors consider the model-matching and left-factorization problems for affine nonlinear systems in a general formulation which does not demand the compensator or the left factor to be proper, as well as in a stronger one, in which properness is required. The approach is based on the structure algorithm, which serves to define the structural invariants, rank, and structure at infinity that characterize the existence of solutions and that, more directly, is employed in constructing such solutions. Necessary and sufficient conditions for the solvability of the problems are found in terms of equalities between ranks or structures at infinity.<<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":"126844681","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}
{"title":"Some sufficient conditions for the asymptotic stabilizability of three dimensional homogeneous polynomial systems","authors":"W. Dayawansa, C. Martin","doi":"10.1109/CDC.1989.70363","DOIUrl":"https://doi.org/10.1109/CDC.1989.70363","url":null,"abstract":"Consideration is given to 3D homogeneous polynomial systems, and some sufficient conditions for their asymptotic stability are derived by using homogeneous feedback. The tests given are geometric in nature.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"43 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":"126877823","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}