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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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A study of tracking-differentiator 跟踪微分器的研究
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914684
Xiaofeng Wang, S. Yau, Jie Huang
{"title":"A study of tracking-differentiator","authors":"Xiaofeng Wang, S. Yau, Jie Huang","doi":"10.1109/CDC.2001.914684","DOIUrl":"https://doi.org/10.1109/CDC.2001.914684","url":null,"abstract":"A second-order dynamics, tracking-differentiator, is given to generate smooth approximation of the incoming measurement and its derivative, which can be used as the desired trajectory for the control system.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"33 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":"132899896","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
Control and random searching with multiple robots 多机器人控制与随机搜索
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912783
A. Healey, J. Kim
{"title":"Control and random searching with multiple robots","authors":"A. Healey, J. Kim","doi":"10.1109/CDC.2000.912783","DOIUrl":"https://doi.org/10.1109/CDC.2000.912783","url":null,"abstract":"This paper discusses the elements of modeling and simulation methodology for the study of system performance analysis in minefield reconnaissance and object mapping in very shallow water environments. Crawling and swimming vehicles are considered, although the focus is on the first. Vehicle locomotion models are proposed. Wave and current models are discussed by reference to other ongoing research. The modeling of object detection sensors, and vehicle navigation sensors are also given. Using these principles given above, reference is made to the importance of two types of simulator graphics based visualization simulator that views the interactive behavior of robots and environment objects, and a Monte Carlo low resolution simulator that allows the study of system effectiveness. Also, other control parameters are studied including the effect of changes in the detection range of the primary sensor.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"641 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":"133040469","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
Model set identification and seismic response control of flexible structure 柔性结构模型集辨识与地震反应控制
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912342
H. Fukushima, Wu Yue, T. Sugie, Gi-Hwan Bae, Yoshiyuki Suzuki
{"title":"Model set identification and seismic response control of flexible structure","authors":"H. Fukushima, Wu Yue, T. Sugie, Gi-Hwan Bae, Yoshiyuki Suzuki","doi":"10.1109/CDC.2000.912342","DOIUrl":"https://doi.org/10.1109/CDC.2000.912342","url":null,"abstract":"We perform the seismic control experiment of a flexible structure in order to investigate applicability of the model set identification methods to robust controller design. From the viewpoint of application to robust control, we identify model sets based on nominal models represented by rational transfer functions, in contrary to most existing methods based on affinely parameterized functions which tend to be high order functions. Also, we derive a less conservative error bound which takes into account of low correlation properties of input signals. Based on the model set identification method and the H/sub /spl infin// controller design method based on LMIs, we show that a closed-loop system which satisfies given design specifications is obtained systematically.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"32 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":"133358164","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
A time-stepping method for relay systems 继电器系统的时间步进方法
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914610
W. Heemels, Kanat M. Camlibel, J. Schumacher
{"title":"A time-stepping method for relay systems","authors":"W. Heemels, Kanat M. Camlibel, J. Schumacher","doi":"10.1109/CDC.2001.914610","DOIUrl":"https://doi.org/10.1109/CDC.2001.914610","url":null,"abstract":"In this paper we will analyze a time-stepping method for the numerical simulation of dynamical systems containing Coulomb friction or relay characteristics. Time-stepping techniques replace the original dynamical system by a sequence of algebraic problems, that have to be solved for each time-step. For relay systems the one-step problem can be reformulated as a linear complementarity problem for which a wide range of solution algorithms already exists. As the event times at which the relay switches are \"overstepped,\" the consistency of the method in the sense of the convergence of a sequence of approximations to an actual solution of the relay system can be put into question. However, in this paper we show that the proposed method is consistent even in the case that the event times accumulate (Zeno behavior). By an example we will illustrate how the method deals with Zeno trajectories.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"44 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":"133367802","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
Topological structure of the set of non-strongly-stabilizable SISO systems 非强稳定SISO系统的拓扑结构
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912356
M. Yoon, H. Kimura
{"title":"Topological structure of the set of non-strongly-stabilizable SISO systems","authors":"M. Yoon, H. Kimura","doi":"10.1109/CDC.2000.912356","DOIUrl":"https://doi.org/10.1109/CDC.2000.912356","url":null,"abstract":"We study on the robustness of nonstrongly stabilizable SISO plants under small perturbations in graph topology. From a new notion of pole-zero shifting, we show that there are two types of nonstrongly stabilizable plants: one that can be made strongly stabilizable by arbitrary small perturbations and the other that is essentially non-strongly stabilizable. We provide a simple criterion for this classification and examine its relevance to the simultaneous stabilization problem.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"16 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":"133609163","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
A two-variable approach to solve the polynomial Lyapunov equation 求解多项式李雅普诺夫方程的双变量方法
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.914179
R. Peeters, P. Rapisarda
{"title":"A two-variable approach to solve the polynomial Lyapunov equation","authors":"R. Peeters, P. Rapisarda","doi":"10.1109/CDC.2000.914179","DOIUrl":"https://doi.org/10.1109/CDC.2000.914179","url":null,"abstract":"A two-variable polynomial approach to solve the one-variable polynomial Lyapunov equation is put forward. Such an approach yields an iterative solution method based on the method of Faddeev for the computation of matrix resolvents. The resulting algorithm is especially suitable for applications requiring symbolic or exact computation.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"164 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":"133619259","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: 30
On robust non-fragile static state-feedback controller synthesis 鲁棒非脆弱静态状态反馈控制器综合
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2001.914709
R. Takahashi, D. A. Dutra, R. Palhares, P. Peres
{"title":"On robust non-fragile static state-feedback controller synthesis","authors":"R. Takahashi, D. A. Dutra, R. Palhares, P. Peres","doi":"10.1109/CDC.2001.914709","DOIUrl":"https://doi.org/10.1109/CDC.2001.914709","url":null,"abstract":"This paper addresses the design of robust non-fragile state feedback controllers, with controller uncertain parameters described as polytope-type convex-bounded uncertainties. The linearizing change of variables Z=KW, that is the basis for a large class of LMI-based robust control design algorithms, is slightly modified. The modified change of variables proposed here leads to LMI-based robust non-fragile control design algorithms that are directly derived from any former algorithm formulated in terms of the traditional change of variables. In this way, the \"fragility\" issue is solved inside the mainstream of the LMI-based robust control synthesis algorithms that have been developed up to now, in a unified basis.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"33 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":"133297779","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
Some remarks on dynamic output feedback control of non uniformly observable systems 非一致可观测系统动态输出反馈控制的若干问题
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.914171
G. Besançon, H. Hammouri
{"title":"Some remarks on dynamic output feedback control of non uniformly observable systems","authors":"G. Besançon, H. Hammouri","doi":"10.1109/CDC.2000.914171","DOIUrl":"https://doi.org/10.1109/CDC.2000.914171","url":null,"abstract":"This paper presents results on dynamic output feedback control for a class of systems which are in cascade form and a priori are not uniformly observable. These results are based on previous studies on observer design for the considered class of systems on the one hand, and similar arguments as in the case of uniformly observable systems on the other hand. Some further extensions on this basis are also discussed.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"30 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":"133675805","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
Design of a fuzzy controller using random signal-based learning employing simulated annealing 基于模拟退火的随机信号学习模糊控制器设计
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912794
Chang-Wook Han, Jung-il Park
{"title":"Design of a fuzzy controller using random signal-based learning employing simulated annealing","authors":"Chang-Wook Han, Jung-il Park","doi":"10.1109/CDC.2000.912794","DOIUrl":"https://doi.org/10.1109/CDC.2000.912794","url":null,"abstract":"Describes the application of simulated annealing to a random signal-based learning. Simulated annealing is used to generate the reinforcement signal of the random signal-based learning. The validity of the proposed algorithm is confirmed by applying it to the control of an inverted pendulum using a fuzzy controller and finding the minimum of the nonlinear function.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"127 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":"132456480","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: 18
Iterative learning control using adjoint systems for nonlinear non-minimum phase systems 非线性非最小相位系统的伴随系统迭代学习控制
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI: 10.1109/CDC.2000.912236
T. Sogo, Kouji Kinoshita, N. Adachi
{"title":"Iterative learning control using adjoint systems for nonlinear non-minimum phase systems","authors":"T. Sogo, Kouji Kinoshita, N. Adachi","doi":"10.1109/CDC.2000.912236","DOIUrl":"https://doi.org/10.1109/CDC.2000.912236","url":null,"abstract":"Most iterative learning control (PLC) using a causal updating law obtains the input given by Silverman's (1969) or Hirshorn's (1979) causal inversion. When the objective system is that of a non-minimum phase, we cannot use those methods because the input is exponentially increasing. To overcome this difficulty, an approach called stable inversion was proposed to give a non-causal but bounded input instead. However, no simple iterative method to obtain this non-causal input was proposed. In this paper, from a viewpoint of minimization, we develop a simple iterative method for stable inversion toward ILC for non-minimum phase systems.","PeriodicalId":217237,"journal":{"name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","volume":"49 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":"132682339","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
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