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

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On-line estimation of human operator workload 人工操作工作量的在线估计
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70226
W. Rencken, H. Durrant-Whyte
{"title":"On-line estimation of human operator workload","authors":"W. Rencken, H. Durrant-Whyte","doi":"10.1109/CDC.1989.70226","DOIUrl":"https://doi.org/10.1109/CDC.1989.70226","url":null,"abstract":"An algorithm that is able to estimate adaptively the performance of a human operator in a series of overlapping tasks is presented. The algorithm has its foundations in the multiple resource pool model of human operator workload. Each task performed by the operator is split into a number of subtasks, with each subtask in turn modeled by a finite-impulse-response (FIR) filter channel. As each subtask is executed, the channel bandwidths are updated to provide the weights of the FIR filter and estimates of the correlation between the different channels. The correlation gives an indication of the ability to perform tasks simultaneously. The algorithm was tested in a real-time operator framework in which the operator had to perform different simple tasks simultaneously.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"30 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":"130753012","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
Algorithms for quadratic transportation networks 二次型交通网络算法
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70310
J. A. Ventura
{"title":"Algorithms for quadratic transportation networks","authors":"J. A. Ventura","doi":"10.1109/CDC.1989.70310","DOIUrl":"https://doi.org/10.1109/CDC.1989.70310","url":null,"abstract":"Two dual algorithms for solving quadratic transportation problems are discussed and compared. Both algorithms include a similar line search subproblem. The performance of the algorithms is improved by combining two known line search techniques, the Bitran-Hax line search algorithm and the sequential line search algorithm. Results of a computational study carried out to identify the best method to solve quadratic transportation problems are presented.<<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":"131130327","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
Strong approximation of the recursive prediction error estimator of the parameters of an ARMA process ARMA过程参数递归预测误差估计器的强逼近
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70194
L. Gerencsér
{"title":"Strong approximation of the recursive prediction error estimator of the parameters of an ARMA process","authors":"L. Gerencsér","doi":"10.1109/CDC.1989.70194","DOIUrl":"https://doi.org/10.1109/CDC.1989.70194","url":null,"abstract":"A theorem that settles a conjecture formulated by Tusnady is presented. The proof uses a uniqueness theorem on the asymptotic likelihood equation.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"4 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":"132836632","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
Minimum-time control laws for robotic manipulators 机械臂的最小时间控制律
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70626
Y. Chen, A. Desrochers
{"title":"Minimum-time control laws for robotic manipulators","authors":"Y. Chen, A. Desrochers","doi":"10.1109/CDC.1989.70626","DOIUrl":"https://doi.org/10.1109/CDC.1989.70626","url":null,"abstract":"The problem of minimum-time control (MTC) for rigid robotic manipulators with point-to-point motion subject to hard constraints on the control torques is addressed. A Hamiltonian canonical formulation of the robotic dynamic equations is used. A perturbation-based transformation algorithm is applied to solve this category of the MTC problem. In this algorithm, the original MTC problem, possibly a partially singular one, is converted into a totally nonsingular optimal control problem by introducing a perturbed energy term into the original objective functional. It is shown that, in the limiting case, the solution to the transformed problem is convergent to that of the original MTC problem. The numerical solutions to several example manipulators are presented to verify the theoretical result on the structure of the MTC law. Some of the characteristics of the resulting optimal trajectories are analyzed by using a dynamic scaling approach. The result provides new insight into the dynamic characteristics of robot arms, pertaining to both path planning and design specifications.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"40 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":"132919568","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: 32
Exact controllability and uniform stabilization of Kirchoff plates via only the 'bending moment' 克尔霍夫板仅通过“弯矩”的精确可控性和均匀稳定性
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70576
I. Lasiecka, R. Triggiani
{"title":"Exact controllability and uniform stabilization of Kirchoff plates via only the 'bending moment'","authors":"I. Lasiecka, R. Triggiani","doi":"10.1109/CDC.1989.70576","DOIUrl":"https://doi.org/10.1109/CDC.1989.70576","url":null,"abstract":"Consideration is given to two related problems: exact controllability and uniform stabilization. Results are presented for both problems for the space of optimal regularity of the solutions of the Kirchoff plate problem.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"123 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":"133088093","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
An algorithm to assign canonical forms by state feedback 一种基于状态反馈的规范化形式分配算法
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70600
B. Datta, K. Datta
{"title":"An algorithm to assign canonical forms by state feedback","authors":"B. Datta, K. Datta","doi":"10.1109/CDC.1989.70600","DOIUrl":"https://doi.org/10.1109/CDC.1989.70600","url":null,"abstract":"A procedure for assigning an arbitrary normalized Hessenberg matrix is presented. Specifically, given a controller-Hessenberg pair (A,b) and a normalized upper Hessenberg matrix B, the algorithm computes an upper triangular matrix L=(l/sub ij/) and a row vector f/sup T/ such that L(A-b/sup T/f/sup T/)L/sup -1/=B/sup T/. It is formulated in such a way that the columns of L can be scaled to have unit lengths. Since the class of normalized Hessenberg matrices contains important canonical forms, such as companion, Schwarz, Rough, a Jordan matrix associated with a single eigenvalue, or any bidiagonal matrix having its eigenvalues on the diagonal, the method can be used to assign all these important canonical forms and also an arbitrary set of eigenvalues. After the initial reduction to the Hessenberg form, the method requires only the evaluation of a simple recursion, which becomes extremely simplified in all of these cases. It is also easy to program on a computer. A theoretical operations count suggests that the method is more efficient as an eigenvalue-assignment procedure than the best-known previous procedures.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"885 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":"133308906","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: 2
A new robust controller for linear systems with arbitrarily structured uncertainties 一种新的具有任意结构不确定性的线性系统鲁棒控制器
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70151
Min-Shin Chen, M. Tomizuka
{"title":"A new robust controller for linear systems with arbitrarily structured uncertainties","authors":"Min-Shin Chen, M. Tomizuka","doi":"10.1109/CDC.1989.70151","DOIUrl":"https://doi.org/10.1109/CDC.1989.70151","url":null,"abstract":"The design of robust controllers for linear single-input-single-output (SISO) systems with uncertainties due to modeling errors and disturbances is considered. It is assumed that a nominal state-space model as well as quantitative bounds on system uncertainties are given. No structural condition such as the matching condition is imposed on system uncertainties. However, it is assumed that the system is minimum phase. Under these assumptions, a controller that achieves regulation of the system output and ensures boundedness of the system state is developed. When the relative degree of the system is larger than two, the controller is first obtained in an unrealizable form, and then its approximation in realizable form is presented. The controller in the approximation form is verified to be effective by a computer simulation study.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"11 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":"133458298","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
Composite control of direct-drive robots 直驱机器人的复合控制
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70432
D.G. Taylor
{"title":"Composite control of direct-drive robots","authors":"D.G. Taylor","doi":"10.1109/CDC.1989.70432","DOIUrl":"https://doi.org/10.1109/CDC.1989.70432","url":null,"abstract":"The present trend toward the development of gearless robots aims to eliminate mechanical complexity where possible. Consistent with this objective is the increasing use of brushless motors as joint actuators. These electronically commutated motors do have the required characteristic of high torque at low-speed, but pose a challenge for accurate torque control at the joints. It is shown that by coordinating the feedback linearization design of the mechanical link dynamics with that of the electrical motor dynamics, greater control accuracy can be achieved. The feedback linearization is applied to a reduced-order model which accounts for the electrical dynamics with an asymptotic approximation of the integral manifold. A first-order correction to the current commands of joint actuators improves the torque tracking accuracy of the robot.<<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":"132170233","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: 71
Effective discretization strategies in optimal design 优化设计中的有效离散化策略
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70137
L. He, E. Polak
{"title":"Effective discretization strategies in optimal design","authors":"L. He, E. Polak","doi":"10.1109/CDC.1989.70137","DOIUrl":"https://doi.org/10.1109/CDC.1989.70137","url":null,"abstract":"The authors define a successive approximation algorithm which consists of a sequence of progressively finer stages of discretization, with a prescribed number of iterations of the optimization algorithm carried out in each stage. They associate with the successive approximation algorithm two optimal discretization problems and propose methods for their solutions. They present an implementation scheme based on estimates and show by experiment that it is quite effective.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"30 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":"132397154","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
Steady state response, separation principle and the output regulation of nonlinear systems 非线性系统的稳态响应、分离原理及输出调节
Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI: 10.1109/CDC.1989.70568
C. Byrnes, A. Isidori
{"title":"Steady state response, separation principle and the output regulation of nonlinear systems","authors":"C. Byrnes, A. Isidori","doi":"10.1109/CDC.1989.70568","DOIUrl":"https://doi.org/10.1109/CDC.1989.70568","url":null,"abstract":"Necessary and sufficient conditions are given for the solution of a general nonlinear output regulation problem. The proof of this result illustrates the connection between the problem in question and appropriate nonlinear versions of the concept of steady-state response and of the separation principle.<<ETX>>","PeriodicalId":156565,"journal":{"name":"Proceedings of the 28th IEEE Conference on Decision and Control,","volume":"19 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":"132570883","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: 56
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