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Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)最新文献

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Blockwise subspace identification for active noise control 主动噪声控制的块子空间识别
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-15 DOI: 10.1109/CDC.2000.914158
R. Fraanje, M. Verhaegen, N. Doelman
{"title":"Blockwise subspace identification for active noise control","authors":"R. Fraanje, M. Verhaegen, N. Doelman","doi":"10.1109/CDC.2000.914158","DOIUrl":"https://doi.org/10.1109/CDC.2000.914158","url":null,"abstract":"In this paper, a subspace identification solution is provided for active noise control (ANC) problems. The solution is related to so-called block updating methods, where instead of updating the (feedforward) controller on a sample by sample base, it is updated each time based on a block of N samples. The use of the subspace identification based ANC methods enables non-iterative derivation and updating of MIMO compact state space models for the controller. The robustness property of subspace identification methods forms the basis of an accurate model updating mechanism, using small size data batches. The design of a feedforward controller via the proposed approach is illustrated for an acoustic duct benchmark problem, supplied by TNO Institute of Applied Physics (TNO-TPD), the Netherlands. We also show how to cope with intrinsic feedback. A comparison study with various ANC schemes, such as block filtered-U, demonstrates the increased robustness of a subspace derived controller.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"57 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120852746","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 bank of reconfigurable LQG controllers for linear systems subjected to failures 一组可重构的LQG控制器，用于线性系统的故障处理
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-15 DOI: 10.1109/CDC.2000.912282
S. Kanev, M. Verhaegen
{"title":"A bank of reconfigurable LQG controllers for linear systems subjected to failures","authors":"S. Kanev, M. Verhaegen","doi":"10.1109/CDC.2000.912282","DOIUrl":"https://doi.org/10.1109/CDC.2000.912282","url":null,"abstract":"An approach for controller reconfiguration is presented. The starting point in the analysis is a sufficiently accurate continuous linear time-invariant (LTI) model of the nominal system. Based on a bank of reconfigurable LQG controllers, each designed for a particular combination of total faults, the reconfiguration consists of two operation modes. In the first mode a switching is invoked towards one of the pre-designed LQG controllers on the basis of the information about only the combination of total faults that is in effect. In the second mode, which is activated in cases of partial and component faults, a dynamic correction procedure is initiated which tries to reconfigure the currently active controller in such a way, that the failed closed-loop system remains stable and its performance is as close as possible to the performance of the closed-loop system with only total faults present in the system. In cases of partial faults the second mode is practically an extension of the modified pseudo-inverse method. In cases of component faults the second mode is based on an LMI optimization problem. The approach is illustrated using a model of a real-life space robot manipulator, in which total, partial and component faults are simulated.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122425161","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: 25
Identification of multivariable linear parameter-varying systems based on subspace techniques 基于子空间技术的多变量线性变参系统辨识
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-15 DOI: 10.1109/CDC.2000.912083
Vincent Verdult, M. Verhaegen
{"title":"Identification of multivariable linear parameter-varying systems based on subspace techniques","authors":"Vincent Verdult, M. Verhaegen","doi":"10.1109/CDC.2000.912083","DOIUrl":"https://doi.org/10.1109/CDC.2000.912083","url":null,"abstract":"Presents a subspace type of identification method for multivariable linear parameter-varying systems in state space representation with affine parameter dependence. It is shown that a major problem with subspace methods for this kind of systems is the enormous dimensions of the data matrices involved. To overcome the curse of dimensionality, we suggest to use only the most dominant rows of the data matrices in estimating the model. An efficient selection algorithm is discussed that does not require the formation of the complete data matrices, but can process them row by row.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127538569","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: 21
Vibration suppression and optimal repetitive disturbance rejection control in semi-Nyquist frequency region using multirate sampling control 基于多速率采样控制的半奈奎斯特频域振动抑制与最优重复干扰抑制
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912292
H. Fujimoto, Y. Hori
{"title":"Vibration suppression and optimal repetitive disturbance rejection control in semi-Nyquist frequency region using multirate sampling control","authors":"H. Fujimoto, Y. Hori","doi":"10.1109/CDC.2000.912292","DOIUrl":"https://doi.org/10.1109/CDC.2000.912292","url":null,"abstract":"Multirate feedback controllers are proposed for digital control systems with relatively long sampling period. The proposed controllers achieve vibration suppression and disturbance rejection even in the semi-Nyquist frequency region. First, the continuous-time vibration suppression controller is exactly discretized by the multirate sampling control based on the closed-loop characteristics. Second, multirate repetitive controllers are proposed both by the feedback and feedforward approaches. Moreover, the inter-sample disturbance rejection performance is optimized by the fast sampling approach. The proposed controllers are applied to the settling and following modes of hard disk drive, and the advantages of these approaches are demonstrated by simulations.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115235452","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: 24
Convergence rates of the maximum likelihood estimator of hidden Markov models 隐马尔可夫模型的极大似然估计的收敛速率
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914668
L. Mevel, L. Finesso
{"title":"Convergence rates of the maximum likelihood estimator of hidden Markov models","authors":"L. Mevel, L. Finesso","doi":"10.1109/CDC.2001.914668","DOIUrl":"https://doi.org/10.1109/CDC.2001.914668","url":null,"abstract":"We derive the almost sure rate of convergence of the maximum likelihood estimator of the parameters of a hidden Markov model with continuous observations and finite state space. The analysis is based on the geometric ergodicity properties of the prediction filter and its derivatives. As an example of application of these results we prove that, also in this context, the likelihood ratio is a consistent statistic for model selection.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115317166","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
Robust reconfigurable control for parametric and additive faults with FDI uncertainties 具有FDI不确定性的参数和可加性故障鲁棒可重构控制
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912363
Zhenyu Yang, J. Stoustrup
{"title":"Robust reconfigurable control for parametric and additive faults with FDI uncertainties","authors":"Zhenyu Yang, J. Stoustrup","doi":"10.1109/CDC.2000.912363","DOIUrl":"https://doi.org/10.1109/CDC.2000.912363","url":null,"abstract":"From the system recoverability point of view, the paper discusses robust reconfigurable control synthesis for LTI systems and a class of nonlinear control systems with parametric and additive faults as well as derivations generated by FDI algorithms. By following the model-matching strategy, an augmented optimal control problem is constructed based on the considered faulty and fictitious nominal systems, such that the robust control design techniques, such as H/sub /spl infin// control and /spl mu/ synthesis, can be employed for the reconfigurable control design.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115347097","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: 27
Polygonal approximation of uncertain height fields for outdoor navigation 室外导航不确定高度场的多边形逼近
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912874
M. D. Marco, D. Prattichizzo, A. Vicino
{"title":"Polygonal approximation of uncertain height fields for outdoor navigation","authors":"M. D. Marco, D. Prattichizzo, A. Vicino","doi":"10.1109/CDC.2000.912874","DOIUrl":"https://doi.org/10.1109/CDC.2000.912874","url":null,"abstract":"Exploring unstructured and unknown environments is one of the most important tasks of mobile robotics. Usually, in outdoor navigation, exploring unstructured environments is based on or is functional to map-making procedures. This paper deals with the problem of representing and updating maps from height field measurements. A technique for dynamic updating maps, in the presence of bounded uncertainties on the height field is presented. The technique is based on the set membership estimation theory, and allows for adaptive refinement of the environment description.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115697939","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
Online techniques for behavioral programming 行为编程的在线技术
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912130
M. Branicky, T. Johansen, I. Petersen, Emilio Frazzoli
{"title":"Online techniques for behavioral programming","authors":"M. Branicky, T. Johansen, I. Petersen, Emilio Frazzoli","doi":"10.1109/CDC.2000.912130","DOIUrl":"https://doi.org/10.1109/CDC.2000.912130","url":null,"abstract":"Many control problems of interest can be cast as optimal hybrid system control problems, wherein an objective function represents some global goals and the input at each time instant is a choice among a finite set of control laws. There are many approaches to solving such problems in the literature, all based on dynamic programming in some form or another, and all suffering from overwhelming computational complexity. We attempt to lower this complexity by examining techniques that take advantage of the underlying properties of the individual controllers among which we are switching. We call this process \"behavioral programming\" since we are now attempting to perform dynamic programming at the more abstract level of behaviors of the constituent systems. We present our paradigm and discuss two areas of its use: motion planning for autonomous agents and LQR with state and input constraints. Applications to helicopter and wheel slip control are used to illustrate problem solving in each of these areas, respectively.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117109853","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: 21
Adaptive integral sliding mode control for active vibration absorber design 主动减振器设计的自适应积分滑模控制
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.914166
Tri-Tan Van Cao, Lei Chen, F. He, K. Sammut
{"title":"Adaptive integral sliding mode control for active vibration absorber design","authors":"Tri-Tan Van Cao, Lei Chen, F. He, K. Sammut","doi":"10.1109/CDC.2000.914166","DOIUrl":"https://doi.org/10.1109/CDC.2000.914166","url":null,"abstract":"A new tuning method for active vibration absorber design is presented in this paper. A robust, adaptive control scheme based on a variable structure with an adaptive discontinuity surface is designed and simulated. Robust synthesis of an adaptive discontinuity surface based on an augmented state-space is discussed. The proposed tuning scheme has three superior features compared with the existing counterparts in that: (i) it is completely insensitive to changes in the stiffness and damping of the absorber, (ii) it is capable of suppressing cyclic vibrations over a wide range of frequencies, (iii) its real-time operation requires only one adjustable gain.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121092394","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
On the existence of common Lyapunov triples for ISS and iISS switched systems ISS和iISS切换系统的公共Lyapunov三元组的存在性
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912247
J. L. Mancilla-Aguilar, R. García
{"title":"On the existence of common Lyapunov triples for ISS and iISS switched systems","authors":"J. L. Mancilla-Aguilar, R. García","doi":"10.1109/CDC.2000.912247","DOIUrl":"https://doi.org/10.1109/CDC.2000.912247","url":null,"abstract":"We present converse Lyapunov theorems for input-to-state (ISS) and integral ISS (iISS) switched nonlinear systems. Their proofs are based on existing converse Lyapunov theorems for input-output-to-state stability and iISS nonlinear systems, and on the association of the switched system with a nonlinear system with inputs and disturbances that take values in a compact set.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121101178","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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