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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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H/sup /spl infin//-optimal tracking control techniques for nonlinear underactuated systems 非线性欠驱动系统的H/sup /spl最优跟踪控制技术
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.914100
G. Toussaint, T. Başar, F. Bullo
{"title":"H/sup /spl infin//-optimal tracking control techniques for nonlinear underactuated systems","authors":"G. Toussaint, T. Başar, F. Bullo","doi":"10.1109/CDC.2000.914100","DOIUrl":"https://doi.org/10.1109/CDC.2000.914100","url":null,"abstract":"Presents techniques for controlling the motion of an underactuated vehicle when disturbances are present and only imperfect state measurements are available for feedback. A state feedback controller is developed and then it is converted to an imperfect state measurement feedback controller. The state feedback tracking control law uses an H/sup /spl infin//-optimal design and produces a locally exponentially stable closed-loop system. The imperfect state measurement feedback controller combines the state feedback control law with an H/sup /spl infin//-filter to estimate the states and achieves a modified form of disturbance attenuation. The state estimator exploits a unique structure in the nonlinear equations of motion to develop a direct solution. MATLAB simulations illustrate both control algorithms for an underactuated ship model.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"74 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":"125489111","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: 107
Hand over control of unstable object using manipulators - an approach of continuously switching of controllers 利用机械手进行不稳定对象的移交控制——一种连续切换控制器的方法
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912241
Napolean, Tasuka Hoshino, K. Furuta
{"title":"Hand over control of unstable object using manipulators - an approach of continuously switching of controllers","authors":"Napolean, Tasuka Hoshino, K. Furuta","doi":"10.1109/CDC.2000.912241","DOIUrl":"https://doi.org/10.1109/CDC.2000.912241","url":null,"abstract":"This paper presents a new hand over method of unstable object using robot manipulators by an approach of continuously switching of controllers. Each of the robot manipulator can be considered as a controller to stabilize the object. It is needed to switch from one controller to another so that the input of the system does not exceed the value which is required to stabilize the object. However, it is known that if the controller switches at unsuitable time, the system may become unstable. The idea of a new method presented here is to make a switching of the controllers based on the double bracket flow. It is shown that even if the switching time is done at any time, the system still remains stable. Experimental results using two Puma-like 6-DOF robot to hand over an inverted pendulum from one robot to another are presented.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"356 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":"115935892","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
Lyapunov coupled equations for infinite jump linear systems 无限跳变线性系统的Lyapunov耦合方程
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.914150
M. Fragoso, J. Baczynski
{"title":"Lyapunov coupled equations for infinite jump linear systems","authors":"M. Fragoso, J. Baczynski","doi":"10.1109/CDC.2000.914150","DOIUrl":"https://doi.org/10.1109/CDC.2000.914150","url":null,"abstract":"Deals with Lyapunov equations for continuous-time Markov jump linear systems (MJLS). We focus on the case in which the Markov chain has a countably infinite state space. It is shown that the infinite MJLS is stochastically stabilizable (SS) if and only if the associated countably infinite coupled Lyapunov equations have a unique norm bounded strictly positive solution. This result does not hold for mean square stabilizability (MSS), since SS and MSS are no longer equivalent in our set up. To some extent, tools from operator theory in Banach space and, in particular, from semigroup theory are the technical underpinning of the paper.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"21 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":"115937007","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
The benefits of implicit modelling for predictive control 隐式建模对预测控制的好处
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912755
J. Rossiter, B. Kouvaritakis, L. H. Huatuco
{"title":"The benefits of implicit modelling for predictive control","authors":"J. Rossiter, B. Kouvaritakis, L. H. Huatuco","doi":"10.1109/CDC.2000.912755","DOIUrl":"https://doi.org/10.1109/CDC.2000.912755","url":null,"abstract":"Traditionally, predictive control is understood to rely on accurate predictions in order to give good control. Here it is shown that in fact one can bypass the prediction model altogether and go straight to an implicit model which represents the parameters of the objective function to be minimised. This is demonstrated to have significant advantages.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"133 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":"115968796","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
Optimal control for steel annealing processes as hybrid systems 钢退火过程作为混合系统的最优控制
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912820
Y. C. Cho, W. Kwon, C. Cassandras
{"title":"Optimal control for steel annealing processes as hybrid systems","authors":"Y. C. Cho, W. Kwon, C. Cassandras","doi":"10.1109/CDC.2000.912820","DOIUrl":"https://doi.org/10.1109/CDC.2000.912820","url":null,"abstract":"This paper formulates and solves an optimal control problem for steel annealing manufacturing processes involving one or more furnaces integrated with plant-wide planning and scheduling operations. We use a hybrid system framework to capture the tradeoff between metallurgical quality requirements and timely product delivery. The resulting nonconvex and nondifferentiable problem is solved by decomposing it into several smaller and simpler constrained convex optimization subproblems. Although the number of such subproblems appears to be combinationally large in the number N of jobs to be completed, we use a recently developed approach for identifying at most 2N-1 such problems and provide some explicit numerical results.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"4 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":"131373323","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
Optimal Hankel norm approximation for the Pritchard-Salamon class of non-exponentially stable infinite-dimensional systems 非指数稳定无限维系统Pritchard-Salamon类的最优Hankel范数逼近
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914640
A. Sasane, R. Curtain
{"title":"Optimal Hankel norm approximation for the Pritchard-Salamon class of non-exponentially stable infinite-dimensional systems","authors":"A. Sasane, R. Curtain","doi":"10.1109/CDC.2001.914640","DOIUrl":"https://doi.org/10.1109/CDC.2001.914640","url":null,"abstract":"The optimal Hankel norm approximation problem is solved for a class of infinite-dimensional systems without assuming exponential stability.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"14 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":"132051383","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 variable structure controller-from sliding mode to sliding sector 变结构控制器的设计——从滑模到滑模扇形
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912104
Yaodong Pan, K. Furuta, Satoshi Suzuki, S. Hatakeyama
{"title":"Design of variable structure controller-from sliding mode to sliding sector","authors":"Yaodong Pan, K. Furuta, Satoshi Suzuki, S. Hatakeyama","doi":"10.1109/CDC.2000.912104","DOIUrl":"https://doi.org/10.1109/CDC.2000.912104","url":null,"abstract":"In general, a variable structure (VS) control system is designed with a sliding mode. But recently a sliding sector designed using algebraic Riccati equation has been proposed to replace the sliding mode for chattering-free VS controllers and for discrete-time VS controllers. In this paper we design a new sliding sector based on the sliding mode and propose a VS controller with the sliding sector. The proposed VS control system is quadratically stable even if there exists parameter uncertainties and external disturbances. The experimental results on an inverted pendulum show the effectiveness of the proposed VS control algorithm with the sliding sector.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"139 1 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":"132387113","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: 14
State feedback control of linear systems in the presence of devices with finite signal-to-noise ratio 有限信噪比下线性系统的状态反馈控制
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914672
M. D. Oliveira, R. Skelton
{"title":"State feedback control of linear systems in the presence of devices with finite signal-to-noise ratio","authors":"M. D. Oliveira, R. Skelton","doi":"10.1109/CDC.2001.914672","DOIUrl":"https://doi.org/10.1109/CDC.2001.914672","url":null,"abstract":"This paper provides necessary and sufficient conditions for mean-square state-feedback stabilization of linear systems whose white noise sources have intensities affinely related to the variance of the signal they corrupt. Systems with such noise sources have been called finite signal-to-noise (FSN) models, and the stability results provided in prior work were only sufficient conditions. The upper bounded L/sub 2/ performance is also guaranteed herein by solving a control problem which is nonconvex only due to a certain scaling parameter. By fixing this parameter convex programming algorithms provide the control of FSN models of linear systems.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"5 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":"129991883","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: 17
Direct controller order reduction by identification in closed loop applied to an active suspension 应用于主动悬架的闭环辨识直接减少控制器阶数
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914614
I. Landau, A. Constantinescu, A. Karimi
{"title":"Direct controller order reduction by identification in closed loop applied to an active suspension","authors":"I. Landau, A. Constantinescu, A. Karimi","doi":"10.1109/CDC.2001.914614","DOIUrl":"https://doi.org/10.1109/CDC.2001.914614","url":null,"abstract":"After briefly reviewing some algorithms for direct controller order reduction by identification in closed loop using simulated and real data, validation tests are proposed. Then the methodology is illustrated by its application to controller order reduction for an active suspension system. Experimental results are presented.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"5 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":"130183628","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
Control design using Jordan controllable canonical form 控制设计采用乔丹可控规范形式
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912226
K. Busawon
{"title":"Control design using Jordan controllable canonical form","authors":"K. Busawon","doi":"10.1109/CDC.2000.912226","DOIUrl":"https://doi.org/10.1109/CDC.2000.912226","url":null,"abstract":"Presents a control design strategy for a class of single-input nonlinear dynamical systems. The design consists in transforming the system into a new controllable canonical form which we call the Jordan controllable canonical form (JCCF). In fact, the Brunowski controllable canonical form is a special case of the JCCF. We first show that any controllable pair can be transformed into the JCCF. We next extend the result to a controllable pair which is state dependent. Using this extended Jordan controllable canonical form we propose a control design strategy for a class of single-input control affine systems. The design is simple and systematic and provides two degrees of freedom to fix the convergence of the closed-loop system. An example is given to illustrate the control design.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"4 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":"130217855","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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