The 23rd IEEE Conference on Decision and Control最新文献_第9页

Use of Cholesky square roots amidst the UD-factorization implementation of Kalman filters in real-time airborne tracking systems 在实时机载跟踪系统中卡尔曼滤波器的d分解实现中使用乔列斯基平方根

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272054

R. Yannone

{"title":"Use of Cholesky square roots amidst the UD-factorization implementation of Kalman filters in real-time airborne tracking systems","authors":"R. Yannone","doi":"10.1109/CDC.1984.272054","DOIUrl":"https://doi.org/10.1109/CDC.1984.272054","url":null,"abstract":"In airborne Track-While-Scan systems, target parameters are updated via individual Kalman Filters. To insure numerical stability and accuracy, UD-Factorization techniques are used. A preset number of individual tracks is typically maintained in dense target environments. In real-time application the processing load is of concern. The UD-Factorization algorithm for measurement updates operates on each measurement individually when the error covariance matrix of the measurements is diagonal. In the inertial X-Y-Z TWS Kalman Filter for each track, this matrix is inherently non-diagonal and consequently needs to be operated upon. The proposed algorithm utilizes the lower triangular Cholesky square root technique to determine the normalized measurement vector and observation matrix, and yields an identity measurement error covariance matrix. To perform all the computations necessary requires considerable effort, and this paper delineates what is involved. The computationally cost-effective way to operate reduces to only a few subsidiary calculations above what would be necessary had the measurement error covariance matrix been diagonal to begin with. This algorithm is invoked prior to performing the Kalman Measurement Update equations.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134391777","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

Quality modeling and a quality control of a manufacturing system 制造系统的质量建模和质量控制

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272323

J. Buzacott, D. Cheng

引用次数: 2

On the stabilizability of linear time-varying systems 线性时变系统的稳定性

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272308

P. Khargonekar, K. Poolla

引用次数: 6

The design of servomechanism controllers for exact and approximate error regulation 对伺服机构控制器进行精确和近似的误差调节

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272210

B. Scherzinger, E. Davison

引用次数: 2

Stability of mechanical impedence controlled manipulators in workspace coordinates 机械阻抗控制机械手在工作空间坐标下的稳定性

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272174

D. Grunberg, H. Spang, M. Athans

引用次数: 0

Planning of straight line manipulator trajectory in Cartesian space with torque constraints 具有力矩约束的直角空间直线机械手轨迹规划

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272352

C. G. Lee, B. Lee

{"title":"Planning of straight line manipulator trajectory in Cartesian space with torque constraints","authors":"C. G. Lee, B. Lee","doi":"10.1109/CDC.1984.272352","DOIUrl":"https://doi.org/10.1109/CDC.1984.272352","url":null,"abstract":"Most of the existing off-line trajectory planning schemes focus on the requirements that the trajectory must be smooth and continuous. This paper, based on discrete time trajectory analysis, extends these concepts and includes the manipulator dynamics in the planning of straight line trajectory in the Cartesian space. The planning of straight line trajectory is performed in the Cartesian space and requires optimization in the jointvariable space. An iterative forward and backward search algorithm coupled with a modified forward search algorithm are developed to determine the joint values at each control set point on the given straight line within the bounds imposed by the smoothness and torque constraints. These sets of joint position, velocity and acceleration will be used as referenced inputs to the manipulator controller for the joint-variable space control [1] or can be used to determine the corresponding Cartesian position, velocity, and acceleration on the straight line for the Cartesian space control. The proposed straight line trajectory planning will be useful for obstacle avoidance and the resolved motion adaptive control [2].","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"244 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132091865","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: 10

Redundant command generator tracker control technique for self-repairing flight control systems 自修复飞行控制系统的冗余指令发生器跟踪控制技术

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272088

T. Sadeghi

引用次数: 1

An approach to decentralized control of large scale systems using aggregation methods 一种利用聚合方法对大规模系统进行分散控制的方法

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272320

V. Saksena, Jose B. Cruz

引用次数: 13

Efficient estimation of initial-condition parameters for partially observable initial conditions 部分可观测初始条件下初始条件参数的有效估计

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272225

M. Shuster, D. Porter

引用次数: 2

Parameterized hierarchical control of interconnected singularly perturbed systems 互连奇摄动系统的参数化层次控制

The 23rd IEEE Conference on Decision and Control Pub Date : 1984-12-01 DOI: 10.1109/CDC.1984.272147

D. Looze, David H. Gahutu

引用次数: 0