Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)最新文献

{"title":"Worst-case manoeuvres for the roll-over and jackknife of articulated vehicles","authors":"Wen-Hou Ma, H. Peng","doi":"10.1109/ACC.1998.703030","DOIUrl":"https://doi.org/10.1109/ACC.1998.703030","url":null,"abstract":"The worst-case steering and braking manoeuvres for the roll-over and jackknife of a tractor/trailer vehicle are reported in this paper. The generation of worst-case manoeuvres is formulated as a one-player worst-case evaluation problem. Linear solutions are first solved by using classical optimal control theories. Nonlinear solutions are then obtained numerically. Sensitivity analysis based on the worst-case evaluation method is also performed to identify important variables for vehicle rollovers.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"57 32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114177407","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}

{"title":"Passive control of bilateral teleoperated manipulators","authors":"P.Y. Li","doi":"10.1109/ACC.1998.703365","DOIUrl":"https://doi.org/10.1109/ACC.1998.703365","url":null,"abstract":"The control of a bilateral teleoperated manipulator system is considered. The goals of the control are to (i) coordinate the motions of the two manipulators according to a predefined kinematic scaling, (ii) render the dynamics of a locked system, and its response to forces from the human operator and environment to approximate that of predefined natural dynamics, (iii) to provide for possible scaling of power. In addition, for safety reasons, the closed loop system need to remain passive. For linear dynamically similar systems, dynamics of the system can be block diagonalized into two decoupled mechanical systems: the shape system that deals with the coordination error, and the locked system that describe the average motion of the two manipulators. The passive velocity field control methodology is then applied to the shape system to regulate the coordination error at 0 and at the same time preserves the passivity of the overall system.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114269379","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}

{"title":"Adaptive decoupling control of multivariable nonlinear non-minimum phase systems using neural networks","authors":"Heng Yue, T. Chai","doi":"10.1109/ACC.1998.694720","DOIUrl":"https://doi.org/10.1109/ACC.1998.694720","url":null,"abstract":"We develop an adaptive neural decoupler for discrete-time multivariable nonlinear non-minimum phase systems. Using Taylor's formula, the nonlinear system can be viewed as a linear non-minimum phase system with measurable disturbances. The feedforward decoupling strategy which was used in linear systems is employed and static decoupling can be achieved. For unknown systems, one group of neural networks are trained off-line to estimate the Jacobian matrix, another group are used to approximate the nonlinear terms online. Adaptive decoupling is thus developed.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114375619","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}

{"title":"Optimal H/sub 2/ synthesis of controllers with relative degree two","authors":"J. Corrado, W. Haddad, Dennis S. Bernstein","doi":"10.1109/ACC.1998.694753","DOIUrl":"https://doi.org/10.1109/ACC.1998.694753","url":null,"abstract":"Considers fixed-structure H/sub 2/-optimal relative degree two controller synthesis. The problem is presented in a decentralized static output feedback framework developed for fixed-order (i.e., full- and reduced-order) dynamic controller synthesis. A quasi-Newton/continuation algorithm is used to compute solutions to the necessary conditions. To demonstrate the approach, a flexible structure example is considered.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121902699","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}

{"title":"Control of high-rise/high-speed elevators","authors":"R. Roberts","doi":"10.1109/ACC.1998.703233","DOIUrl":"https://doi.org/10.1109/ACC.1998.703233","url":null,"abstract":"An analytical framework for the development and evaluation of motion control system concepts for high-rise, high-speed elevators is presented in this paper. This problem definition, which includes a discussion of typical control system performance requirements, plant model dynamics and uncertainties, and control system robustness requirements, serves as a benchmark for the application and evaluation of advanced control approaches. Unique features of this problem include time varying dynamics, uncertain structural response, noncolocated control, sensor suite selection, and separable command and disturbance rejection control system requirements.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129416701","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}

{"title":"Advanced fringe tracking algorithms for low-light level ground-based stellar interferometry","authors":"C. Padilla, V. Karlov, L. Matson, H. M. Chun","doi":"10.1109/ACC.1998.707273","DOIUrl":"https://doi.org/10.1109/ACC.1998.707273","url":null,"abstract":"Advanced nonlinear fringe tracking algorithms are used to improve the state-of-the-art in ground-based optical stellar interferometric fringe tracking by allowing the tracking of stars one to two bolometric magnitudes dimmer than currently possible. Even more significantly, the authors demonstrate active fringe locking for dim stars with less than 10% loss of lock probability. Enabling fringe locking through the atmosphere for dim stars has significant implications for ground-based interferometric stellar imaging. These results are a consequence of the powerful estimation framework in which the discrete Bayesian algorithm (DBA) is developed. This framework makes it possible to incorporate all the available nonlinear model and statistical information, including the known statistics of atmospheric variations, into the tracking algorithm and thus results in the highest performing fringe tracker. The authors made use of Zernike polynomial representations in order both to simulate atmospheric variations for algorithm evaluation and comparison, and also to incorporate the atmospheric information into the statistical mechanism of the nonlinear filters developed. All simulations are performed using parameters for the CHARA Array of Georgia State University. The formulation of the DBA for ground-based fringe tracking is presented. The nature of the data structures in the DBA makes it especially well suited to the incorporation of experimental data. A detailed formulation and preliminary evaluation is carried out on the Variation-Invariant Subspace Tracking Algorithm (VISTA). VISTA offers the possibility of making the interferometric measurements invariant to atmospheric disturbances through the optimal projection of many \"sub-aperture interferometers\" onto one invariant subspace. The DBA can fringe lock dim stars with a 50% loss of lock probability where state-of-the-art fringe tracking techniques fail. The use of VISTA in the fringe locking regime resulted in an improvement on the DBA results by up to one bolometric magnitude dimmer stars.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129869846","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}

{"title":"Identification of the smallest unfalsified model set based on stochastic noisy data","authors":"H. Fukushima, T. Sugie","doi":"10.1109/ACC.1998.688453","DOIUrl":"https://doi.org/10.1109/ACC.1998.688453","url":null,"abstract":"We propose a new model set identification method using experimental data contaminated by stochastic noise. We find the smallest model set which is consistent with the experimental data by separating the output error into the deterministic part due to the unmodeled dynamics and the stochastic noise part. Furthermore, the effectiveness of this method is shown by numerical examples.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129877826","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}

{"title":"Notions of integral input-to-state stability","authors":"Eduardo Sontag","doi":"10.1109/ACC.1998.688455","DOIUrl":"https://doi.org/10.1109/ACC.1998.688455","url":null,"abstract":"The input-to-state stability (ISS) property is a nonlinear version of stability with respect to the uniform norm. The paper introduces two variations of the ISS concept, to allow consideration of integrals when measuring the magnitude of an input or of a state trajectory. It is proved that one of the two properties is strictly weaker than ISS and the other one is equivalent to ISS.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128518356","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}

{"title":"Guaranteed cost control of discrete-time Markovian jumping uncertain systems","authors":"E. Boukas, P. Shi","doi":"10.1109/ACC.1998.703504","DOIUrl":"https://doi.org/10.1109/ACC.1998.703504","url":null,"abstract":"We first study the problems of robust quadratic mean square stability and stabilization for a class of uncertain discrete-time linear systems with both Markovian jumping parameters and Frobenius norm-bounded parametric uncertainties. Necessary and sufficient conditions for the above problems are proposed, which are in terms of positive definite solutions of a set of coupled algebraic Riccati inequalities. Then, the problem of robust quadratic guaranteed cost control for the underlying systems is investigated. A guaranteed cost control is designed to ensure the cost function is within a certain bound, irrespective of all admissible uncertainties.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128691389","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}

{"title":"Effects of the shape of compressor characteristics on actuator requirements for rotating stall control","authors":"Yong Wang, R. M. Murray","doi":"10.1109/ACC.1998.702975","DOIUrl":"https://doi.org/10.1109/ACC.1998.702975","url":null,"abstract":"We present a systematic analysis on the effects of noise, the shape of compressor characteristics, and bleed valve actuator limits on the performance of controllers in rotating stall control. We use center manifold reduction to the three state Moore Greitzer model with piecewise analytic compressor characteristics. For the reduced system, the optimal control which achieves the largest operability enhancement is the \"bang-on\" control law that drives the valve to open against its rate limit. For the optimal controller, we also derive approximate formulas for the operability enhancement as a function of the noise level, the actuator limits, and the shape of compressor characteristics. The predictions by the formulas are compared with numerical simulations using a model for a low speed axial compressor.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128681619","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}