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[1991] Proceedings of the 30th IEEE Conference on Decision and Control最新文献

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A polynomial approach to simultaneous stabilization of SISO plants SISO植物同时镇定的多项式方法
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261109
A. Cavallo, G. De Maria
{"title":"A polynomial approach to simultaneous stabilization of SISO plants","authors":"A. Cavallo, G. De Maria","doi":"10.1109/CDC.1991.261109","DOIUrl":"https://doi.org/10.1109/CDC.1991.261109","url":null,"abstract":"A preliminary approach for stabilizing two SISO plants is outlined. By utilizing the results in G. Celentano and G. De Maria (1989) characterizing the set of all stabilizing compensators for single-input systems, it is shown that such a characterization can be easily reduced to a form similar to the classical Youla-Kucera one. Following the work of M. Jodorkovsky and W. Levine (1990) and starting from the same assumptions, it is shown that the problem can be solved by suitably selecting three Hurwitz polynomials.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123747887","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
The regulator problem for linear discrete-time systems with nonsymmetrical constrained control 非对称约束线性离散系统的调节器问题
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261705
A. Benzaouia
{"title":"The regulator problem for linear discrete-time systems with nonsymmetrical constrained control","authors":"A. Benzaouia","doi":"10.1109/CDC.1991.261705","DOIUrl":"https://doi.org/10.1109/CDC.1991.261705","url":null,"abstract":"The author considers the regulator problem for linear discrete-time systems described by the equations x/sub k+1/=Ax/sub k/+Bu/sub k/, where u/sub k/=Fx/sub k/ epsilon Omega , and Omega is a nonsymmetrical polyhedral set. A necessary and sufficient condition ensuring that all the motions of the system emanating from the set F/sup -1/ Omega remain in this set is given. The asymptotic stability of the origin is also guaranteed.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126650474","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: 44
Control of cooperative multiple flexible joint robots 多柔性关节协作机器人的控制
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261632
Shaheen Ahmad
{"title":"Control of cooperative multiple flexible joint robots","authors":"Shaheen Ahmad","doi":"10.1109/CDC.1991.261632","DOIUrl":"https://doi.org/10.1109/CDC.1991.261632","url":null,"abstract":"The author addresses the problem of controlling multiple flexible joint robots (mFJR) during cooperative manipulation of a rigidly grasped common load (this problem is called the cmFJR problem). The dynamic model of the cmFJR shows that the interaction between the manipulators in the closed chain in the mFJR system is analogous to a single manipulator interacting with a frictionless (algebraic constraint) surface while in motion along the surface. It is assumed that each flexible joint robot is equipped with joint velocity and position sensors and actuator-mounted position and velocity sensors. It is shown that it is not necessary to use force sensors mounted on the robot wrist in order to track a desired load trajectory and an internal force trajectory. The transient response of the position error and the internal force error can be arbitrarily assigned, despite the fact that force sensors are not used.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126776328","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
On observers for a class of nonlinear systems 一类非线性系统的观测器
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261344
J. de Leon Morales, T. Chot
{"title":"On observers for a class of nonlinear systems","authors":"J. de Leon Morales, T. Chot","doi":"10.1109/CDC.1991.261344","DOIUrl":"https://doi.org/10.1109/CDC.1991.261344","url":null,"abstract":"The authors present an observer for a class of nonlinear systems which are affine in the state and composed of subsystems interconnected in series. This observer works for the class of regularly persistent inputs. They recall main assumptions and restate the results proved by H. Hamouri and J. De Leon Morales (1990). The authors' result is stated and proved.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126850459","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: 3
An adaptive learning control approach 一种自适应学习控制方法
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261567
Z. Geng, M. Jamshidi, R. Carroll, R. Kisner
{"title":"An adaptive learning control approach","authors":"Z. Geng, M. Jamshidi, R. Carroll, R. Kisner","doi":"10.1109/CDC.1991.261567","DOIUrl":"https://doi.org/10.1109/CDC.1991.261567","url":null,"abstract":"An adaptive learning control approach is proposed which combines a mechanism to improve the control input sequence as well as to improve the learning control scheme based on the knowledge learned about the unknown system and environment. The iterative learning control problem is treated from the 2D system point of view. A 2D model for a class of iterative learning control system is formulated. A learning gain estimator algorithm based on the 2D model is presented. The overall learning control system structure is given. The proposed learning control scheme does not require prior knowledge of the controlled system and has the ability to generalize the knowledge learned from one task operation to other tasks. This scheme can be applied to nonlinear system control problems. To demonstrate the feasibility of the proposed learning algorithm, simulation results on learning control for a three-water-tank system are given. The results show an excellent learning performance, even for nonrepetitive tasks.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115209981","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: 5
On recursive construction of trees as models of dynamical systems 作为动力系统模型的树的递归构造
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261694
A. Isaksson, L. Ljung, J. Stromberg
{"title":"On recursive construction of trees as models of dynamical systems","authors":"A. Isaksson, L. Ljung, J. Stromberg","doi":"10.1109/CDC.1991.261694","DOIUrl":"https://doi.org/10.1109/CDC.1991.261694","url":null,"abstract":"An issue that is of importance for control applications is discussed: how to construct the trees online, i.e. recursively, as more and more data become available. A theorem regarding recursive tree-building is stated and proved, and implementation issues are considered.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116396036","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
Neural-network-based catastrophe avoidance control systems 基于神经网络的巨灾避免控制系统
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261079
R. Defigueiredo, A. Stubberud
{"title":"Neural-network-based catastrophe avoidance control systems","authors":"R. Defigueiredo, A. Stubberud","doi":"10.1109/CDC.1991.261079","DOIUrl":"https://doi.org/10.1109/CDC.1991.261079","url":null,"abstract":"A novel approach based on interpolative neural networks is proposed for catastrophic fault detection and isolation, and system reconfiguration to accommodate the fault. The neural networks are from a class of recently developed interpolative neural networks, based on a generalized Fock space. The technique is designed to make use of secondary control configurations, assuming only partial system operation, as may be obtained by simulation and test results at design time (information not used by current adaptive controllers).<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116430073","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
Optimal feedback controllability 最优反馈可控性
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261870
L. Schumann, H. Geering
{"title":"Optimal feedback controllability","authors":"L. Schumann, H. Geering","doi":"10.1109/CDC.1991.261870","DOIUrl":"https://doi.org/10.1109/CDC.1991.261870","url":null,"abstract":"The concept of the optimal feedback controllability of a nonlinear plant with respect to an accompanying optimal control problem is introduced. An illustrative example in the context of the second-order necessary conditions of optimal control is presented. An extension to the wider class of not optimal feedback controllable plants with respect to a chosen performance index is elaborated by a suitable type of transformation.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116538053","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
Generalization of a complex system by equivalent transform in the discrete sense 用离散意义上的等效变换推广复系统
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261046
M. Koga, K. Furuta
{"title":"Generalization of a complex system by equivalent transform in the discrete sense","authors":"M. Koga, K. Furuta","doi":"10.1109/CDC.1991.261046","DOIUrl":"https://doi.org/10.1109/CDC.1991.261046","url":null,"abstract":"The authors introduce a relation called equivalence in the discrete sense and define a complex system corresponding to a real system with real-axis poles as well as complex conjugate poles that is a generalization of a complex system considered previously by the authors (1990). The introduction of such a complex system makes it more suitable for treating not only the robust control but also pole assignment in the separate regions. It is possible to treat root-clustering problems in three separate regions: in two symmetric regions with respect to the real axis and on a real-axis segment.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122641830","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
Receding horizon control for nonlinear time-varying systems 非线性时变系统的后退水平控制
[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261257
R. Vinter, H. Michalska
{"title":"Receding horizon control for nonlinear time-varying systems","authors":"R. Vinter, H. Michalska","doi":"10.1109/CDC.1991.261257","DOIUrl":"https://doi.org/10.1109/CDC.1991.261257","url":null,"abstract":"The receding horizon control strategy provides a relatively simple method for determining feedback control for nonlinear systems and has been shown to be globally asymptotically stabilizing when applied to general, time-invariant nonlinear systems. The authors extend previous results by showing that the receding horizon control is globally stabilizing for a large class of time-varying, continuous-time nonlinear systems.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114265846","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: 5
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