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A non-recursive method for solving the general discrete-time riccati equations related to the H∞ control problem 一种非递归方法求解与H∞控制问题有关的一般离散时间riccati方程
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793376
Ben M. Chen, A. Saberi, Y. Shamash
{"title":"A non-recursive method for solving the general discrete-time riccati equations related to the H∞ control problem","authors":"Ben M. Chen, A. Saberi, Y. Shamash","doi":"10.23919/ACC.1993.4793376","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793376","url":null,"abstract":"In this paper we propose a non-recursive method for solving the general discrete-time algebraic Riccati equation related to the H<sub>∞</sub>, control problem (H<sub>∞</sub>-DARE). We have achieved this by casting the problem of solving a given H<sub>∞</sub>-DARE to the problem of solving an auxiliary continuous-time algebraic Riccati equation associated with the H<sub>∞</sub> control problem (H<sub>∞</sub>-CARE) for which the well known non-recursive methods of solving are available. The advantages of our approach are: it reduces the computation involved in the recursive algorithms while giving much more accurate solutions, and it readily provides the properties of the general H<sub>∞</sub>-DARE.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"39 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":"115087467","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
Arrow Mode Reboost Analysis for Space Station Freedom 空间站自由度的箭型再增压分析
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.1109/ACC.1993.4176327
R. Graham, Valerie J. DuFore
{"title":"Arrow Mode Reboost Analysis for Space Station Freedom","authors":"R. Graham, Valerie J. DuFore","doi":"10.1109/ACC.1993.4176327","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176327","url":null,"abstract":"Early flights of Space Station Freedom are gravity-gradient stabilized, but reboost to higher altitude while in Arrow Mode, where its truss is aligned with the direction of flight. Power concerns led to a proposal to activate Freedom's solar array beta gimbals for partial sun tracking during reboost. Further plume impingement concerns led to a baseline orientation of flight with the arrays leading. A baseline dynamic simulation for this maneuver is presented here. Several observations are made, particularly about large motions of the beta gimbals during the maneuver, and about simplified structural dynamic response of the arrays to the reboost and large slew environment. The results presented here may be used as a starting point for reboost analyses on other flight configurations, or in other orientations, or with higher-fidelity structural information.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"67 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":"116200730","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
Robust Control of Semi-Rigid/Flexible Structures 半刚性/柔性结构的鲁棒控制
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.1109/ACC.1993.4176415
Jin Lu, Chih-Wen Liu
{"title":"Robust Control of Semi-Rigid/Flexible Structures","authors":"Jin Lu, Chih-Wen Liu","doi":"10.1109/ACC.1993.4176415","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176415","url":null,"abstract":"This paper addresses the robustness issue of controlling semi-rigid/flexible structures. Conditions are derived that guarantee the robust stability of semi-rigid/flexible structures controlled by a single actuator under parametric uncertainty. These conditions provide simple constraints on the feedback gains of the controller. The freedom in choosing feedback gains that satisfy these constraints can be used to achieve other performance requirements such as pole assignment. As an application, the conditions are used to design controllers for a simple semi-rigid mechanical system.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"29 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":"116305362","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
Robust optimal control for a class of distributed parameter system 一类分布参数系统的鲁棒最优控制
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.1109/ACC.1993.4175889
B. Mordukhovich, Kaixia Zhang
{"title":"Robust optimal control for a class of distributed parameter system","authors":"B. Mordukhovich, Kaixia Zhang","doi":"10.1109/ACC.1993.4175889","DOIUrl":"https://doi.org/10.1109/ACC.1993.4175889","url":null,"abstract":"In this paper, we study some optimal control and stabilization problems for N dimensional linear heat-diffusion equations with state constraints. The originial motivation for considering such problems came from the development of automatic control systems in irrigation networks which ensure an optimal groundwater regime under uncertain external perturbations; see Skaggs [8] and Mordukhovich [4] for more details. A core problem arising in these considerations is robust stabilization of the system dynamics by state-feedback controls. We study a class of distributed parameter systems where control appear in boundary conditions and have a bounded amplitude. The later creates essential difficulties in employing Hx-optimal control theory based on Riccati equations; see, e.g., Khargonekar et al. [3], Curtain et al. [2] and references therein.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"476 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":"116414370","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
Stability Analysis of Load Balancing Systems 负载均衡系统的稳定性分析
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793321
K. Burgess, K. Passino
{"title":"Stability Analysis of Load Balancing Systems","authors":"K. Burgess, K. Passino","doi":"10.23919/ACC.1993.4793321","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793321","url":null,"abstract":"A load processor is a system that has a buffer that can receive load and store it while it is waiting to be processed and has a local decision-making policy for determining if portions of its load should be sent to other load processors. A load balancing system is a set of such load processors that are connected in a network so that (i) they can sense the amount of load in the buffers of neighboring processors and pass load to them, and (ii) so that via local information and decisions by the individual load processors, the overall load in the entire network can be balanced. Such balancing is important to ensure that certain processors are not overloaded while others are left idle (i.e. load balancing helps avoid under-utilization of processing resources). The topology of the network, delays in transporting and sensing load, types of load, and types of local load passing policies all affect the performance of the load balancing system. In this paper, we show how a variety of load balancing systems can be modeled in a discrete event system (DES) theoretic framework, and how balancing properties and performance can be characterized and analyzed in a general Lyapunov stability theoretic framework.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"60 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":"123520351","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: 29
On Hamiltonian Matrices, Symplectic Transformations, and Invariant Subspaces 论哈密顿矩阵、辛变换和不变子空间
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793136
R. Patel
{"title":"On Hamiltonian Matrices, Symplectic Transformations, and Invariant Subspaces","authors":"R. Patel","doi":"10.23919/ACC.1993.4793136","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793136","url":null,"abstract":"In this paper, the reduction of a Hamiltonian matrix to a condensed form using a combination of orthogonal and non-orthogonal symplectic similarity transformations is considered. Two applications of this condensed form are described. One is concerned with the computation of the eigenvalues of the Hamiltonian matrix, and the other involves the reduction of the Hamiltonian matrix to a block upper triangular (Hamiltonian-Schur) form.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"119 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":"123582550","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
Bursting Phenomena in the Adaptive Control of Time Varying Systems 时变系统自适应控制中的突发现象
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.1109/ACC.1993.4176144
M. Radenković, G. Leininger, A. Dale Lawrence
{"title":"Bursting Phenomena in the Adaptive Control of Time Varying Systems","authors":"M. Radenković, G. Leininger, A. Dale Lawrence","doi":"10.1109/ACC.1993.4176144","DOIUrl":"https://doi.org/10.1109/ACC.1993.4176144","url":null,"abstract":"In this paper is is shown that the standard normalized gradient algorithm with the parameter projection can be used for adaptive control of time-varying systems. By evaluating possible bursts in the adaptive loop, global stability and performance of the adaptive system are derived without using persistent excitation (PE) condition. Precise upper bound on the admissible speed of the parameter variations is established. When the reference signal is persistently exciting, it is shown that the parameter estimation error is of order of the rate of parameter variations.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"9 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":"121977785","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
Modeling of the Space Shuttle Main Engine Using Feed-forward Neural Networks 基于前馈神经网络的航天飞机主发动机建模
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793429
N. Saravanan, A. Duyar, T. Guo, W. C. Merrill
{"title":"Modeling of the Space Shuttle Main Engine Using Feed-forward Neural Networks","authors":"N. Saravanan, A. Duyar, T. Guo, W. C. Merrill","doi":"10.23919/ACC.1993.4793429","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793429","url":null,"abstract":"This paper presents the modeling of the Space Shuttle Main Engine (SSME) using a feed-forward neural network. The input and output data for modeling are obtained from a non-linear performance simulation developed by Rockwell International. The SSME is modeled as a system with two inputs and four outputs. The back-propagation algorithm is used to train the neural network by minimizing the squares of the residuals. The inputs to the network are the delayed values of the selected inputs and outputs of the non-linear simulation. The results obtained from the neural network model are compared with the results obtained from the non-linear simulation. It is shown that a single neural network can be used to model the dynamics of the space shuttle main engine. This neural network model can be used for control design purposes as well as for model-based fault detection studies.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"38 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":"123987689","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: 16
Output Tracking of Piecewise Polynomial Trajectories 分段多项式轨迹的输出跟踪
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793142
L. Hunt, G. Meyer, R. Su
{"title":"Output Tracking of Piecewise Polynomial Trajectories","authors":"L. Hunt, G. Meyer, R. Su","doi":"10.23919/ACC.1993.4793142","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793142","url":null,"abstract":"This paper gives a signal synthesis approach to the problem of output tracking for dynamical systems. The focus is on an algorithm for generating feed forward control signals. The algorithm does not have difficulty with RHP zeros.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"65 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":"124040355","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
Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots 高速机器人机械结构与控制并行优化设计
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793381
Jahng-Hyon Park, H. Asada
{"title":"Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots","authors":"Jahng-Hyon Park, H. Asada","doi":"10.23919/ACC.1993.4793381","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793381","url":null,"abstract":"A concurrent design method of mechanical structure and control is developed for two-link high speed robots. An integrated design approach to achieve high speed positioning is explored, in which comprehensive design parameters describing arm link geometry, actuator locations and feedback gains are optimized with respect to the settling time of the system. First, a two-lik, non-rigid arm is analyzed and a simple dynamic model representing rapid positioning processes is obtained. Optimal feedback gains minimizing the settling time are obtained as functions of structural parameters involved in the dynamic model. The structural parameters are then optimized using a nonlinear programming technique in order to obtain an overall optimal performance. Based on the optimal design, a prototype high speed robot is built and tested. The resultant arm design shows an outstanding performance, which is otherwise unattainable if the structure and control are designed separately.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"19 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":"125873076","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: 82
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