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A Homotopy Algorithm for Maximum Entropy Design 最大熵设计的一种同伦算法
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793017
E. Collins, L. Davis, S. Richter
{"title":"A Homotopy Algorithm for Maximum Entropy Design","authors":"E. Collins, L. Davis, S. Richter","doi":"10.23919/ACC.1993.4793017","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793017","url":null,"abstract":"Maximum entropy design is a generalization of LQG that was developed to enable the synthesis of robust control laws for flexible structures. The method was developed by Hyland and motivated by insights gained from Statistical Energy Analysis. Maximum entropy design has been used successfully in control design for ground-based structural testbeds and certain benchmark problems. The maximum entropy design equations consist of two Riccati equations coupled to two Lyapunov equations. When the uncertainty is zero the equations decouple and the Riccati equations become the standard LQG regulator and estimator equations. A previous homotopy algorithm to solve the coupled equations relies on an iterative scheme that exhibits slow convergence properties as the uncertainty level is increased. This paper develops a new homotopy algorithm that does not suffer from this defect and in fact has quadratic convergence rates along the homotopy curve.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130475081","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: 8
On the Problem of Coefficient Assignment of Discrete Time Multi-Input Multi-Output Linear Time Varying Systems 离散时间多输入多输出线性时变系统的系数分配问题
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793152
B. Ghosh, P. Bouthellier
{"title":"On the Problem of Coefficient Assignment of Discrete Time Multi-Input Multi-Output Linear Time Varying Systems","authors":"B. Ghosh, P. Bouthellier","doi":"10.23919/ACC.1993.4793152","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793152","url":null,"abstract":"We consider a linear time varying autoregressive moving average (ARMA) system and pose and analyze a time varying version of the coefficient assignment problem well known in time invariant system theory as the pole placement problem. We consider a r-tuple of discrete time, linear time varying plants with m inputs and p outputs together with a single p input m output linear time varying compensator. The design objective is to construct a single compensator which \"coefficient assigns,\" and hence \"bounded input bounded output stabilizes\" under suitable additional technical assumptions, the set of r plants simultaneously in the closed loop. Such a problem is useful in robust design of linear time-varying control systems in the closed loop. Among the results, it is shown that a generic r-tuple of p × m plants (in a suitable topology) is simultaneously coefficient assignable, provided that r ≪ m/p. The design procedure involves splitting the closed loop system into an ARMA system in cascade with a moving average system. The coefficient assignment problem consists of assigning the coefficients of the autoregressive part of the ARMA subsystem. Thereby we obtain an algorithm which is non-recursive and involves solving for each time instant, a system of linear equations with time-varying coefficients. Additionally we consider the problem of coefficient assignment of the autoregressive part of the ARMA system in the closed loop, without splitting up into a cascade of two subsystems as before. A new recursive algorithm to analyse this problem has been introduced.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"1601 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129200410","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
SISO QFT Design With Non-Parametric Uncertainties 具有非参数不确定性的SISO QFT设计
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793165
Y. Chait, Y. Tsypkin
{"title":"SISO QFT Design With Non-Parametric Uncertainties","authors":"Y. Chait, Y. Tsypkin","doi":"10.23919/ACC.1993.4793165","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793165","url":null,"abstract":"This paper focuses on the simultaneous robust stability and robust performance problem from the view point of a Quantitative Feedback Theory (QFT) design. We develop closed-form algorithms for computing QFT bounds for this problem class. These bounds are necessary for the QFT's nominal loop shaping.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128768861","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: 13
Feedback Stabilization of Linear Systems with Parametric Uncertainties: a Multimodel Guaranteed Cost Approach 参数不确定线性系统的反馈镇定:一种多模型保成本方法
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793326
Shuoh Rern, P. Kabamba
{"title":"Feedback Stabilization of Linear Systems with Parametric Uncertainties: a Multimodel Guaranteed Cost Approach","authors":"Shuoh Rern, P. Kabamba","doi":"10.23919/ACC.1993.4793326","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793326","url":null,"abstract":"This paper proposes the framework of multimodel guaranteed cost (MMGC) control for the robust feedback stabilization of LTI plants subject to parametric uncertainties. The idea of this method is as follows. First we partition the domain of uncertain parameters into subregions whose sizes are determined by a chosen \"resolution level.\" Then, on each subregion we define an Algebraic Riccati Equation (ARE), such that the existence of a positive definite solution guarantees robust stability over the subregion. Finally, we search for a common feedback law which results in a positive definite solution for each of these ARE. This search is performed by solving an auxiliary minimization problem (AMP), which is made convex by choice of a parameter.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125389918","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
Design of a controller for the turret system using H∞ synthesis 采用H∞综合设计了转塔系统的控制器
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793146
N. Sivashankar, I. Kaminer, P. Khargonekar
{"title":"Design of a controller for the turret system using H∞ synthesis","authors":"N. Sivashankar, I. Kaminer, P. Khargonekar","doi":"10.23919/ACC.1993.4793146","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793146","url":null,"abstract":"This paper presents the results of a controller design exercise on the turret test fixture using the H∞ synthesis method. The controller is required to provide good step and ramp tracking performance in the presence of firing disturbances. An important step in this design exercise has been the formulation of an appropriate synthesis model. We describe this process in great detail. Results of the linear analysis and simulation of the closed-loop response (with both linear and non-linear plant models) are presented.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126633333","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
Self-Tuning Adaptive Control using Fourier Series Neural Networks 傅立叶级数神经网络自整定自适应控制
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793347
Chaoying Zhu, F. Paul
{"title":"Self-Tuning Adaptive Control using Fourier Series Neural Networks","authors":"Chaoying Zhu, F. Paul","doi":"10.23919/ACC.1993.4793347","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793347","url":null,"abstract":"A neural network architecture, called the Fourier Series Neural Network (FSNN), has been developed [1] for modeling unstructured dynamic systems using system input and output frequency spectrums. This paper addresses the issues concerning on-line implementation of self-tuning adaptive control using the FSNN as an estimator. An underlying controller design method based on the estimation of the system frequency response is proposed in the principle of the laglead compensation. The performance of this Neuro-Self-Tuning Regulator (NSTR) is evaluated using the performance parameters from the frequency domain such as the system bandwidth, phase margin and the gain margin. Simulations for the evaluation of the NSTR were conducted and the results are discussed.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123261641","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
An Inverse Jacobian Solution for the Control of Multi-link Flexible Manipulators 多连杆柔性机械臂控制的逆雅可比解
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793190
D. Meldrum, G. Franklin, P. Wiktor
{"title":"An Inverse Jacobian Solution for the Control of Multi-link Flexible Manipulators","authors":"D. Meldrum, G. Franklin, P. Wiktor","doi":"10.23919/ACC.1993.4793190","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793190","url":null,"abstract":"In this paper, an inverse Jacobian solution is presented for a multi-link flexible manipulator. This solution yields quick endpoint control of flexible manipulators that are modeled as a series of finite elements. The model is partitioned into links connected by passive (nonactuated) and active (actuated) joints. This partitioned structure is maintained in the development of the kinematics and dynamics of the multi-link flexible manipulator. After some rearrangement of the matrix blocks, an application of the matrix inversion lemma, and an application of a fast recursive inversion of mass and Jacobian matrices developed for rigid link manipulators, the final inverse Jacobian solution is obtained.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123407702","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: 3
Decentralized H∞ control 分散H∞控制
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793313
R. Paz
{"title":"Decentralized H∞ control","authors":"R. Paz","doi":"10.23919/ACC.1993.4793313","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793313","url":null,"abstract":"This paper presents a method based on the use of algebraic Riccati equations for designing a decentralized control law. The designs provide both greater computational ease as well as improved H∞ performance over previous designs. Results are given in both the continuous and discrete time settings.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122558181","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: 11
Adaptive Control of Nonminimum Phase Processes with Application to the End Millng Process 非最小相位过程的自适应控制及其在立铣削过程中的应用
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793329
Jeff W. Barthel, Y. Shin
{"title":"Adaptive Control of Nonminimum Phase Processes with Application to the End Millng Process","authors":"Jeff W. Barthel, Y. Shin","doi":"10.23919/ACC.1993.4793329","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793329","url":null,"abstract":"In this work a modified model reference adaptive control design is presented for use with nonminimum phase plants which are likely to exist in end milling processes. The control law is derived and several aspects pertaining to adaptive controller design are discussed. A modified recursive least squares algorithm is used for plant parameter estimation. Simulations are shown to illustrate the effectiveness of the control algorithm. Comparison are made with existing adaptive control schemes for non-minimum phase plants.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122564025","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 Muti-Functional Dynamic Neural Processor for Control Applications 一种用于控制应用的多功能动态神经处理器
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793431
D. Rao, M. Gupta
{"title":"A Muti-Functional Dynamic Neural Processor for Control Applications","authors":"D. Rao, M. Gupta","doi":"10.23919/ACC.1993.4793431","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793431","url":null,"abstract":"In this paper we propose a neural network structure called dynamic neural processor (DNP) which comprises of two dynamic neural units coupled as excitatory and inhibitory neurons. This neural model is inspired by the collective computation of subpopulation of biological neurons. It is demonstrated in this paper that the proposed neural architecture can perform various functions, such as learning the inverse kinematics transformation of two- and three-linked robots, and controlling the unknown nonlinear dynamic systems.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126393705","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
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