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Exact Finite Dimensional Filters for Cryptodeterministic Systems 隐确定性系统的精确有限维滤波器
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.1109/ACC.1986.4172224
F. Daum
{"title":"Exact Finite Dimensional Filters for Cryptodeterministic Systems","authors":"F. Daum","doi":"10.1109/ACC.1986.4172224","DOIUrl":"https://doi.org/10.1109/ACC.1986.4172224","url":null,"abstract":"It is shown that the only cryptodeterministic estimation problems with exact finite dimensional filters are those in which the input-output model is a \"subsystem\" of a linear system. This generalizes a result of 0. Hijab [1], which covers the special case of time-invariant plant models. Moreover, the proof is much simpler than Hijab's, as it is an elementary calculation using Bayes rule and the generalized Fisher-Darmois-Koopman-Pitman theorem.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130486836","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
"Toeplitz + hankel" structures in h∞-design and the avoidance of the "ϵ-iteration" h∞中“Toeplitz + hankel”结构的设计与“ϵ-iteration”的规避
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.23919/ACC.1986.4789201
E. Jonckheere, J. Juang
{"title":"\"Toeplitz + hankel\" structures in h∞-design and the avoidance of the \"ϵ-iteration\"","authors":"E. Jonckheere, J. Juang","doi":"10.23919/ACC.1986.4789201","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789201","url":null,"abstract":"A new, efficient procedure for evaluating the achievable H<sup>∞</sup> performance is developed.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130549696","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
A Control Canonical Form for Augmented Multi-Input Linear Time-Varying Systems 增广多输入线性时变系统的控制规范形式
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.23919/ACC.1986.4789014
S. Hwang, E. Kamen
{"title":"A Control Canonical Form for Augmented Multi-Input Linear Time-Varying Systems","authors":"S. Hwang, E. Kamen","doi":"10.23919/ACC.1986.4789014","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789014","url":null,"abstract":"In this paper, we generalize the results of [3] to the multi-input case. For a multi-input linear time-varying n-dimensional discrete-time system which is N-step reachable, where N ¿ n, it is shown that the system can be put into a control canonical form by augmenting the system state. This result can be used to design q-dimensional output feedback controllers for m-input n-dimensional systems, where q is some integer whose value is between N and mN.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121301353","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
Joint Torque Sensory Feedback in the Control of a PUMA Manipulator 关节力矩传感反馈在PUMA机械手控制中的应用
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.1109/70.88056
L. Pfeffer, O. Khatib, J. Hake
{"title":"Joint Torque Sensory Feedback in the Control of a PUMA Manipulator","authors":"L. Pfeffer, O. Khatib, J. Hake","doi":"10.1109/70.88056","DOIUrl":"https://doi.org/10.1109/70.88056","url":null,"abstract":"Accurate control of joint forces is essential to achieve high performance in advanced assembly and other tasks that involve fine motion, active force control, or high speed operations. Joint force control can be substantially improved by sensory feedback. In this paper we present the design and describe the actual characteristics of a joint torque sensor for a PUMA 500. Using this sensor, a joint torque servo-mechanism has been designed and implemented. A model of the actuator-transmission-load system, including flexibility, was developed and verified using both time and frequency domain techniques. Compensators based on this model were designed and tested. Experimental results obtained from pure torque control and joint motion tracking are presented. These results demonstrate a significant reduction of the effective friction (97%), and substantial improvement in fine motion control.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"520 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116186109","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: 149
Loop Recovery and Robust State Estimate Feedback Designs 回路恢复和鲁棒状态估计反馈设计
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.23919/ACC.1986.4789219
J. Moore, L. Xia
{"title":"Loop Recovery and Robust State Estimate Feedback Designs","authors":"J. Moore, L. Xia","doi":"10.23919/ACC.1986.4789219","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789219","url":null,"abstract":"A novel class of state estimate feedback controller designs is considered which achieves robustness at the plant inputs by using loop recovery techniques. For the case of minimum phase plants, known designs and theory are recovered as a special case. The theory and designs of the paper generalize to include frequency shaping of both the control objectives and the loop recovery.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114745698","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: 39
Spectral Radius Design for Robust Multivariable Control 鲁棒多变量控制的谱半径设计
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.1109/ACC.1986.4171937
J. Kantor
{"title":"Spectral Radius Design for Robust Multivariable Control","authors":"J. Kantor","doi":"10.1109/ACC.1986.4171937","DOIUrl":"https://doi.org/10.1109/ACC.1986.4171937","url":null,"abstract":"A sufficient condition for robust stability and disturbance rejection in multivariable control systems is presented. The condition is a bound on the spectral radius of a weighted set of closed loop transfer function matrices. Frequency dependent weighting matrices are determined from structured bounds on plant uncertainties and performance specifications. For certain clases of robust control problems, including nonminimum phase systems, the spectral radius has a particularly simple form that leads directly to graphical methods for control synthesis. Though the bounds are conservative, the technique does lead to simple graphical interpretations. This is illustrated for systems subject to additve plant perurbations and with performance constraints on both the control input and output error.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"302 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124315377","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
Sensor Failure Detection in Optimally Controlled Systems 最优控制系统中的传感器故障检测
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.23919/ACC.1986.4789278
M. Saif, F. E. Villaseca
{"title":"Sensor Failure Detection in Optimally Controlled Systems","authors":"M. Saif, F. E. Villaseca","doi":"10.23919/ACC.1986.4789278","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789278","url":null,"abstract":"A new scheme for solving the sensor failure detection, isolation and accommodation (FDIA) problem in optimally controlled linear systems has been developed. The proposed technique uses Luenberger observers with a detection logic based on the minimum value of the cost functional at any time instant. The advantages of this new technique are: (1) it can detect and isolate as many failed sensors as there are sensors, even when the failures are multiple and simultaneous; (2) FDIA can be accomplished at any time, since it does not depend on the convergence of the observer estimates to the actual system states; (3) it is not applications dependent, since it requires neither a priori information concerning likely failure modes nor the knowledge of the nominal path resulting from a specific input command. The method assumes the system is observable from each available output.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121962055","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
Ambiguity Resolution in Contact Data Correlation 接触数据关联中的歧义解决
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.23919/ACC.1986.4788984
Barton B. Dunning
{"title":"Ambiguity Resolution in Contact Data Correlation","authors":"Barton B. Dunning","doi":"10.23919/ACC.1986.4788984","DOIUrl":"https://doi.org/10.23919/ACC.1986.4788984","url":null,"abstract":"This project was directed at building a prototype expert system to assist a user in a submarine environment in resolving ambiguities from incoming Over-The-Horizon (OTH), ASCII formated contact reports. This is a subset of the overall data fusion problem of multi-source correlation. Operation of the system assists the user in classifying the ambiguous report as an update to a current track, as a new track, or as unresolvable.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115967883","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 Method for Robust Compliant Motion for Manipulators 机械臂鲁棒柔顺运动设计方法
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.23919/ACC.1986.4789234
H. Kazerooni, P. Houpt, T. Sheridan
{"title":"Design Method for Robust Compliant Motion for Manipulators","authors":"H. Kazerooni, P. Houpt, T. Sheridan","doi":"10.23919/ACC.1986.4789234","DOIUrl":"https://doi.org/10.23919/ACC.1986.4789234","url":null,"abstract":"This paper describes a controller-design methodology to develop a robust compliant motion for robot manipulators. The achievement of the target dynamics (the target impedance is introduced in Part one (22) 1 and preservation of stabilty robustness in the presence of bounded model uncertainties are the key issues in the design method. State-feedback and force-feedforward gains are chosen to guarantee the achievement of the target dynamics, while preserving stability in the presence of model uncertainties. In general, the closed-loop behavior of a system cannot be shaped arbitrarily over an arbitrarily wide frequency range. We prove, however, that a special class of impedances that represent our set of performance specifications are mathematically achievable through state-feedback end interaction-force feedforward and we offer a geometrical design method for achieving them in the presence of model uncertainties.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130058539","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
Nonlinear Heat Exchanger Control through the Use of Partially Linearized Control Variables 通过使用部分线性化控制变量的非线性换热器控制
1986 American Control Conference Pub Date : 1986-06-18 DOI: 10.1109/ACC.1986.4172115
Albert W. Alsop, T. Edgar
{"title":"Nonlinear Heat Exchanger Control through the Use of Partially Linearized Control Variables","authors":"Albert W. Alsop, T. Edgar","doi":"10.1109/ACC.1986.4172115","DOIUrl":"https://doi.org/10.1109/ACC.1986.4172115","url":null,"abstract":"The use of partial linearization by nonlinear state variable feedback has been proposed as a means of reducing the detrimental effects of severe system nonlinearities upon the performance of linear control schemes used with severely nonlinear systems. In this paper a set of generalized transformed variables are derived for a single pass shell and tube heat exchanger using this technique. The implementation of these generalized transformed variables, which reduce the apparent nonlinear behavior of single pass heat exchangers, eliminates the need to rederive a nonlinear transformation for each heat exchanger control design. The open loop behavior of the system is examined in the time domain to evaluate the ability of the transformed variables to reduce the asymmetry of system response to changes to system inputs. The closed loop performance of the chosen system is evaluated for both servo and regulator control. Finally, the effect of model error upon the robustness of the closed loop controller performance is examined.","PeriodicalId":266163,"journal":{"name":"1986 American Control Conference","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1986-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134364460","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: 40
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