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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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Performance comparison of adaptive and robust predictors for long range dependent signals 远距离依赖信号的自适应和鲁棒预测器性能比较
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912735
R. Boel, I. Mareels, M. James
{"title":"Performance comparison of adaptive and robust predictors for long range dependent signals","authors":"R. Boel, I. Mareels, M. James","doi":"10.1109/CDC.2000.912735","DOIUrl":"https://doi.org/10.1109/CDC.2000.912735","url":null,"abstract":"In the context of long range dependent processes we compare robust and adaptive prediction/filtering. The intuitive observation that adaptation achieves optimality asymptotically and outperforms in the long run robust filtering is quantified through the estimation of convergence rates and levels of achievable performance.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"19 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":"134220555","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
Estimation of the domain of attraction for polynomial systems using multidimensional grids 用多维网格估计多项式系统的吸引域
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912316
B. Tibken, O. Hachicho
{"title":"Estimation of the domain of attraction for polynomial systems using multidimensional grids","authors":"B. Tibken, O. Hachicho","doi":"10.1109/CDC.2000.912316","DOIUrl":"https://doi.org/10.1109/CDC.2000.912316","url":null,"abstract":"Investigation of the stability properties of stationary points of nonlinear systems lies at the heart of modern control engineering. In this contribution we show how the theorem of Ehlich and Zeller (1964) is used to compute subsets of the domain of attraction of asymptotically stable stationary points of polynomial systems. The theorem of Ehlich and Zeller is a tool to bound the values of a polynomial over an interval using the values of the polynomial on a finite grid in the interval. We present the generalizations of this theorem to multivariable polynomials and to trigonometric polynomials. A bisection strategy is presented which allows the guaranteed computation of a subset of the domain of attraction. An instructive example is presented and some conclusions and an outlook finish the contribution.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"210 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":"134531184","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: 31
Sliding-mode observer for uncertain systems. II. Nonlinear systems case 不确定系统的滑模观测器。2非线性系统案例
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912780
Y. Xiong, M. Saif
{"title":"Sliding-mode observer for uncertain systems. II. Nonlinear systems case","authors":"Y. Xiong, M. Saif","doi":"10.1109/CDC.2000.912780","DOIUrl":"https://doi.org/10.1109/CDC.2000.912780","url":null,"abstract":"For part I, see ibid, p.316-21 (2000). A sliding mode observer based on Wallcot and Zak's observer for linear uncertain systems was proposed in Part I. The proposed observer works under much less conservative conditions than the ones previously proposed. In this article, the observer design methodology that was proposed for linear systems in the first part is extended to a general class of nonlinear uncertain systems. Numerical examples are used to illustrate the validity of the proposed observer design strategy.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"29 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":"133871075","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
Visual servoing of a class of under-actuated dynamic rigid-body systems 一类欠驱动动态刚体系统的视觉伺服
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912328
T. Hamel, R. Mahony
{"title":"Visual servoing of a class of under-actuated dynamic rigid-body systems","authors":"T. Hamel, R. Mahony","doi":"10.1109/CDC.2000.912328","DOIUrl":"https://doi.org/10.1109/CDC.2000.912328","url":null,"abstract":"An image-based control strategy for visual servoing is presented. The proposed control design addresses visual servoing of 'eye-in-hand' type systems and treats the camera motion as rigid-body dynamics that are positioned relative to an observed visual target. The proposed design is applicable to a class of under-actuated dynamic systems that include idealized models of mobile robotic vehicles such as helicopters, aeroplanes, etc. The proposed design is motivated by a theoretical analysis of the dynamic equations of motion of an underactuated rigid body and exploits passivity-like properties of these dynamics to derive a Lyapunov control algorithm using robust backstepping techniques.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"6 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":"133927304","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: 20
An adaptive filter for calibration and estimation of redundant signals 一种用于校正和估计冗余信号的自适应滤波器
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914713
A. Ray, S. Phoha
{"title":"An adaptive filter for calibration and estimation of redundant signals","authors":"A. Ray, S. Phoha","doi":"10.1109/CDC.2001.914713","DOIUrl":"https://doi.org/10.1109/CDC.2001.914713","url":null,"abstract":"This paper presents formulation of an adaptive filter for real-time calibration of redundant signals consisting of sensor data and/or analytically derived measurements. The measurement noise covariance matrix is adjusted as a function of the a posteriori probabilities of failure of the individual signals. An estimate of the measured variable is obtained as a weighted average of the calibrated signals. The weighting matrix is recursively updated in real time instead of being fixed a priori. The filter software is presently hosted in a Pentium platform and is portable to other commercial platforms. The filter can be used to enhance the Instrumentation and Control System Software in tactical and transport aircraft, and nuclear and fossil power plants.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"12 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":"134176648","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
Recursive observer design beyond the uniform observability 超越统一可观察性的递归观察器设计
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912869
H. Shim, J. Seo
{"title":"Recursive observer design beyond the uniform observability","authors":"H. Shim, J. Seo","doi":"10.1109/CDC.2000.912869","DOIUrl":"https://doi.org/10.1109/CDC.2000.912869","url":null,"abstract":"We propose a recursive design scheme of state observer for lower triangular nonlinear systems. The design begins from the bottom dynamics and propagates to upper dynamics recalling the backstepping scheme for nonlinear control, The proposed class of systems is fairly general since it includes non-uniformly observable or detectable multi-output systems. The error convergence to zero is proved assuming the boundedness of input a posteriori, which is preferable whereas most results in the literature assume the boundedness a priori. A global observer is proposed with the global Lipschitz condition of the system. However, this condition is removed via the Lipschitz extension technique when the semi-global observer is of interest.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"79 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":"131502884","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
Relative equilibria and stability of rings of satellites 卫星环的相对平衡和稳定性
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912032
P. Krishnaprasad
{"title":"Relative equilibria and stability of rings of satellites","authors":"P. Krishnaprasad","doi":"10.1109/CDC.2000.912032","DOIUrl":"https://doi.org/10.1109/CDC.2000.912032","url":null,"abstract":"The problem of control of rings of satellites is of current interest driven by applications in telecommunications and space science. The problem of stability of a ring is the subject of the paper. We use methods from geometric approaches to Hamiltonian systems to treat this problem.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"51 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":"131586860","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: 6
Model estimation and controller reduction: dual closed loop identification problems 模型估计与控制器约简:双闭环辨识问题
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912004
I. D. Laundau, A. Karimi
{"title":"Model estimation and controller reduction: dual closed loop identification problems","authors":"I. D. Laundau, A. Karimi","doi":"10.1109/CDC.2000.912004","DOIUrl":"https://doi.org/10.1109/CDC.2000.912004","url":null,"abstract":"Algorithms for direct controller reduction by identification in closed loop have been previously proposed (Landau and Karimi, 2000, and Karimi and Landau, 2000). In this paper it is shown that the plant model identification in closed loop using closed loop output error identification algorithms and the direct estimation in closed loop of a reduced order controller feature a duality character. Basic schemes, algorithms and properties of the algorithms can be directly obtained by interchanging the plant model and the controller. In the last part of the paper the interaction between plant model identification in closed loop and direct controller reduction is emphasized.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"22 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":"131598574","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
A differential geometric approach to fault detection and isolation for state affine systems 状态仿射系统故障检测与隔离的微分几何方法
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914587
H. Hammouri, P. Kaboré, M. Kinnaert
{"title":"A differential geometric approach to fault detection and isolation for state affine systems","authors":"H. Hammouri, P. Kaboré, M. Kinnaert","doi":"10.1109/CDC.2001.914587","DOIUrl":"https://doi.org/10.1109/CDC.2001.914587","url":null,"abstract":"In this paper, a geometric approach to the synthesis of a residual generator for fault detection and isolation in state affine systems is considered. A necessary and sufficient condition to solve the so-called fundamental problem of residual generation is obtained. The proposed approach resorts to extensions of the notions of (C, A)-invariant and unobservability subspaces, and it yields a constructive design method.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"31 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":"128950255","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: 20
Automatic elasticity tuning of industrial robot manipulators 工业机器人机械手的自动弹性调谐
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914757
E. Berglund, G. Hovland
{"title":"Automatic elasticity tuning of industrial robot manipulators","authors":"E. Berglund, G. Hovland","doi":"10.1109/CDC.2001.914757","DOIUrl":"https://doi.org/10.1109/CDC.2001.914757","url":null,"abstract":"We present a method for automatic elasticity tuning of industrial robot manipulators. The main contributions of the work are: a) The parameters of a mechanical mass-spring-damper equivalent of any order are solved given, only partial state information (motor encoder position and motor torque). b) The method is fully automatic with no operator input and can easily be applied in the field to update the dynamic model parameters. The ability to automatically update the elasticity parameters is particularly useful when the robot operators mount flexible tooling or equipment on the robot arms. c) The method separates friction and elasticity identification. d) The method is demonstrated on an industrial ABB robot. e) We combine an important result from the vibration literature (Yam and Elhay, 1996), with the solution of inverse eigenvalue problems (Gladwell, 1986). To our knowledge, this is the first time that these methods have been combined and applied to the identification of flexible robot manipulators. The main advantage of the method compared to other identification methods is the fact that only motor encoder position and motor torque are required to identify the springs, masses and dampers of an Nth order system.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"79 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":"130812858","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: 26
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