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Proceedings of 1995 American Control Conference - ACC'95最新文献

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Implementable model predictive control in the state space 状态空间中可实现的模型预测控制
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1109/ACC.1995.533828
E. S. Meadows, K. Muske, J. Rawlings
{"title":"Implementable model predictive control in the state space","authors":"E. S. Meadows, K. Muske, J. Rawlings","doi":"10.1109/ACC.1995.533828","DOIUrl":"https://doi.org/10.1109/ACC.1995.533828","url":null,"abstract":"Model predictive control is an optimal control based method for constrained feedback control. Previous work at The University of Texas at Austin has focussed on the development of model predictive controllers that are nominally asymptotically stable for all valid tuning parameters. This development eliminated the need for tuning to obtain nominal stability. However, some implementation issues were not addressed. This work provides a discussion of those issues and solutions that allow the application of a nominally stable linear model predictive controller to be more easily realized in practice. The algorithms discussed in this work are implemented using Octave's (1993) high level interactive language and can be easily translated into other programming languages.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121250694","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: 15
Robust stability of fuzzy logic control systems 模糊逻辑控制系统的鲁棒稳定性
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1109/ACC.1995.531375
S. Farinwata, G. Vachtsevanos
{"title":"Robust stability of fuzzy logic control systems","authors":"S. Farinwata, G. Vachtsevanos","doi":"10.1109/ACC.1995.531375","DOIUrl":"https://doi.org/10.1109/ACC.1995.531375","url":null,"abstract":"An approximate method is formulated for analyzing the performance of a broad class of linear and nonlinear systems controlled using fuzzy logic. It is assumed that an approximate model of the nominal plant is available. Stability in the presence of small, bounded parametric uncertainty and external disturbance of a known origin is considered. The method is based on an appropriate formulation of a performance measure as a Lyapunov-like function of the nominal plant. A heuristic measure of the system's error sensitivity with respect to the parameters of interest is incorporated into this performance expression which is to be minimized. By applying a Lyapunov-like stability condition, the robustness of the system is analyzed by observing a definiteness condition of a simple matrix. The theory is developed in two parts. First, it is assumed that the states are decoupled in the sense that a parameter perturbation in a particular state has no effect on other states. The main robust stability result is developed based on this assumption. In the second part, some interaction is allowed to exist between states as a result of parameter variation. Estimates of the measure of the interactions are derived on stability grounds. A more general result for robust stability is then given. The point of stability convergence is the system's specified target point. Thus, stability convergence to this point, in the presence of parameter perturbations and external load inherently addresses the robust stability of the closed-loop system. Finally, inequality bounds are derived for the sensitivity, error deviation and parameter deviations in terms of fuzzy quantities. A measure for robustness is then formulated using singular values. A fuzzy automotive engine idle speed controller is used to illustrate the methodology.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127360452","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: 27
A new neural network control technique for robot manipulators 一种新的机器人操纵臂神经网络控制技术
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1017/S0263574700018312
Seul Jung, T. Hsia
{"title":"A new neural network control technique for robot manipulators","authors":"Seul Jung, T. Hsia","doi":"10.1017/S0263574700018312","DOIUrl":"https://doi.org/10.1017/S0263574700018312","url":null,"abstract":"A neural network (NN) control technique for robot manipulators is introduced in this paper. The fundamental robot control technique is the model-based computed-torque control which is subjected to performance degradation due to model uncertainty. NN controllers have been traditionally used to generate a compensating joint torque to account for the effects of the uncertainties. The proposed NN control approach is conceptually different in that it is aimed at prefiltering the desired joint trajectories before they are used to command the computed-torque-controlled robot system (the plant) to counteract performance degradation due to plant uncertainties. In this framework, the NN controller serves as the inverse model of the plant, which can be trained online using joint tracking error. Several variations of this basic technique are introduced. Backpropagation training algorithms for the NN controller have been developed. Simulation results have demonstrated the excellent tracking performance of the proposed control technique.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124892298","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: 36
Recursive grid methods to compute value sets for transfer functions with parametric uncertainty 递归网格法计算具有参数不确定性的传递函数的值集
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1109/ACC.1995.533865
B. Cohen, M. Nordin, P. Gutman
{"title":"Recursive grid methods to compute value sets for transfer functions with parametric uncertainty","authors":"B. Cohen, M. Nordin, P. Gutman","doi":"10.1109/ACC.1995.533865","DOIUrl":"https://doi.org/10.1109/ACC.1995.533865","url":null,"abstract":"The most straightforward way to compute value sets for uncertain transfer functions, where each uncertain parameter belongs to an interval, is the grid method. Each parameter interval is gridded equidistantly, and the transfer function values are computed in the grid points. Here, recursive extensions to the grid method are proposed whereby the gridding is adapted locally such that a prescribed distance is achieved between neighbouring points in the value set. Also presented is the so called pruning algorithm which finds the outer border of a value set defined by a set of points whose nearest neighbour lies within a prescribed distance. The pruning algorithm is part of the recursive grid methods, but can also be used independently with other methods to compute value sets.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124940348","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
Generalized mixed-/spl mu/ bounds for real and complex multiple-block uncertainty with internal matrix structure 具有内部矩阵结构的实数和复杂多块不确定性的广义混合/spl mu/界
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1109/ACC.1995.532370
W. Haddad, D. Bernstein, V. Chellaboina
{"title":"Generalized mixed-/spl mu/ bounds for real and complex multiple-block uncertainty with internal matrix structure","authors":"W. Haddad, D. Bernstein, V. Chellaboina","doi":"10.1109/ACC.1995.532370","DOIUrl":"https://doi.org/10.1109/ACC.1995.532370","url":null,"abstract":"New absolute stability results that unify and extend existing structured singular value bounds for mixed uncertainty are developed using the multivariable Nyquist criterion. These bounds generalize prior upper bounds for mixed-/spl mu/ by permitting the treatment of nondiagonal real uncertain blocks as well as accounting for internal matrix structure in the uncertainty. Several specializations to well known absolute stability criteria from the classical literature are given which allows for a systematic comparison of these results in addressing the problem of robust stability for real parameter uncertainty.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125858931","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
Wide-envelope control of a battlefield helicopter 战场直升机的宽包络控制
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1109/ACC.1995.520940
M. Kellett
{"title":"Wide-envelope control of a battlefield helicopter","authors":"M. Kellett","doi":"10.1109/ACC.1995.520940","DOIUrl":"https://doi.org/10.1109/ACC.1995.520940","url":null,"abstract":"Full envelope active control of helicopters is a challenging problem characterised by high degrees of coupling, varying dynamics with flight condition, plus the requirement for completely different control strategies at either end of the speed range. This paper presents a case study of a wide-envelope design for such a system, based on mixed sensitivity H/sub /spl infin// optimisation. A scheduled control scheme is been developed which achieves high levels of decoupling, attains a smooth transition between attitude and rate command schemes, and goes a long way to satisfying current handling qualities requirements.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123807590","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
Distributed discrete event control structures with controller interactions 具有控制器交互的分布式离散事件控制结构
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1109/ACC.1995.532097
X. Guan, L.E. Holloway
{"title":"Distributed discrete event control structures with controller interactions","authors":"X. Guan, L.E. Holloway","doi":"10.1109/ACC.1995.532097","DOIUrl":"https://doi.org/10.1109/ACC.1995.532097","url":null,"abstract":"A framework is introduced for distributed discrete event controllers interacting over a communications channel. Within this framework, the distributed controllers each observe a limited portion of the system state, exchange information with other controllers, and use this information to determine appropriate control actions. The authors consider control for forbidden state avoidance, and determine conditions on the extent of controller interaction necessary for the existence of distributed control laws to achieve the maximally permissive control.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125378492","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
Uncertainty structures in adaptive and robust stabilization 自适应鲁棒稳定中的不确定性结构
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1109/ACC.1995.520913
G. Nahapetian, W. Ren
{"title":"Uncertainty structures in adaptive and robust stabilization","authors":"G. Nahapetian, W. Ren","doi":"10.1109/ACC.1995.520913","DOIUrl":"https://doi.org/10.1109/ACC.1995.520913","url":null,"abstract":"In this paper we develop and synthesize results concerning the stabilization of parametrically uncertain linear systems via state feedback. The main purpose of this paper is to bring together the previously disjoint areas of parametric robust control and adaptive control, and to examine and compare the uncertainty structures that can be accommodated by various approaches of adaptive stabilization and robust stabilization. Among adaptive approaches we consider adaptive design based on certainty equivalence approach and the ones based on Lyapunov design, in turn include the case of parameter-independent Lyapunov function and the case of parameter-dependent Lyapunov function. Among robust approaches we consider quadratic stabilization as well as nonquadratic stabilization. A hierarchy of uncertainty structures is revealed. As an example of the results established in this paper, we show that the broadest uncertainty structure stabilizable by adaptive control based on parameter-independent Lyapunov function is the antisymmetric stepwise form which is strictly larger than the so-called pure feedback form.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126753280","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
Accessory minimum problem of optimal periodic processes 最优周期过程的辅助极小问题
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1109/ACC.1995.532241
Q. Wang
{"title":"Accessory minimum problem of optimal periodic processes","authors":"Q. Wang","doi":"10.1109/ACC.1995.532241","DOIUrl":"https://doi.org/10.1109/ACC.1995.532241","url":null,"abstract":"This paper presents a new approach for analyzing the accessory minimum problem of optimal periodic process. A stability preserving transformation is introduced which produces an LTI equivalent system to the periodic Hamiltonian. A linear matrix inequality (LMI) related to the equivalent system is then established. Since the Hamiltonian system of an optimal periodic process has the property that its monodromy matrix has a pair of coupled unit eigenvalues with the primary eigenvector along the extremal periodic trajectory, the matrix inequality is of a form that is similar to that of a singular linear quadratic problem. It is expected that investigating properties of this LMI will shed light to and enrich the second variation theory for optimal periodic processes.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115069382","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
Validation of linear fractional uncertain models: solutions via matrix inequalities 线性分数不确定模型的验证:通过矩阵不等式的解
Proceedings of 1995 American Control Conference - ACC'95 Pub Date : 1995-06-21 DOI: 10.1109/ACC.1995.532081
Jie Chen, Shuning Wang
{"title":"Validation of linear fractional uncertain models: solutions via matrix inequalities","authors":"Jie Chen, Shuning Wang","doi":"10.1109/ACC.1995.532081","DOIUrl":"https://doi.org/10.1109/ACC.1995.532081","url":null,"abstract":"A time domain approach is provided in this paper to tackle the problem of model validation pertaining to uncertain models described by linear fractional transforms. Algorithms are given to solve these problems with respect to both unstructured and structured dynamic uncertainties. It is shown that in the first case the problem can be solved by finding a feasible solution to a convex optimization problem, while in the second case it amounts to solving a biaffine matrix inequality problem, to which we also provide a necessary condition that can be tested approximately.","PeriodicalId":317569,"journal":{"name":"Proceedings of 1995 American Control Conference - ACC'95","volume":"290 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115214212","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: 56
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