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42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)最新文献

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Structured frequency weighted model reduction 结构化频率加权模型约简
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1273056
Li Li, Femando Paganini
{"title":"Structured frequency weighted model reduction","authors":"Li Li, Femando Paganini","doi":"10.1109/CDC.2003.1273056","DOIUrl":"https://doi.org/10.1109/CDC.2003.1273056","url":null,"abstract":"We consider the problem of reducing a model in a way that preserves a partition of the system states. This is motivated, for instance, in situations where state variables are associated with the topology of a networked system. In earlier work we proposed an LMI method based on block-structured generalized controllability and observability gramians; to make such strategy feasible, coprime factor model reduction was employed. In this paper, we consider the frequency-weighted version of the problem. This is motivated by the usual desire to have model accuracy vary with frequency, but also by the fact that the feasibility of our LMI method can be greatly enhanced through frequency weighting. We show that block-structure can be imposed directly in gramians for frequency weighted problems, and often gives a feasible solution without the need to resort to coprime factors. We also explore the coprime factor version, and give comparisons to other related work in this area.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114489862","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
Adaptive tracking and disturbance rejection for uncertain nonlinear systems 不确定非线性系统的自适应跟踪与抗干扰
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272705
R. Marino, P. Tomei
{"title":"Adaptive tracking and disturbance rejection for uncertain nonlinear systems","authors":"R. Marino, P. Tomei","doi":"10.1109/CDC.2003.1272705","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272705","url":null,"abstract":"The problem of output tracking and rejection of disturbances generated by an unknown linear exosystem is addressed, for the class of nonlinear systems with output dependent nonlinearities and unknown parameters. Under the assumptions that the system is minimum phase and the relative degree, an upper bound on the system order, the sign of the high-frequency gain are known, the problem is globally solved by output feedback.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121868180","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
Reconfiguration of identical vehicles in 3D 在3D中重新配置相同的车辆
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272830
M. Broucke
{"title":"Reconfiguration of identical vehicles in 3D","authors":"M. Broucke","doi":"10.1109/CDC.2003.1272830","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272830","url":null,"abstract":"We present efficient linear programming based algorithms for reconfiguring identical point mass vehicles without collision in 3D space.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121890528","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
Emergence of critical rates in multiple access network control schemes 多接入网控制方案中临界速率的出现
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272839
E. Barany, M. Krupa
{"title":"Emergence of critical rates in multiple access network control schemes","authors":"E. Barany, M. Krupa","doi":"10.1109/CDC.2003.1272839","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272839","url":null,"abstract":"A new approach to analyzing the efficiency of multiple access network control schemes is presented. The novelty is based on looking at the throughput allowed by the dynamics of the protocol itself in a way that is decoupled from the issue of packet generation by making a \"busy network\" approximation. The method allows the critical output bandwidth needed to ensure that a model for a LAN does not accumulate packets unboundedly in its queues to be computed. This is an emergent property of the network that follows from decentralized microscopic laws. The result follows from the stationary distribution property of ergodic Markov chains.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122159238","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
Adaptive output backstepping control of a flywheel zero-bias AMB system with parameter uncertainty 参数不确定飞轮零偏AMB系统的自适应输出反步控制
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1271766
S. Sivrioglu, K. Nonami
{"title":"Adaptive output backstepping control of a flywheel zero-bias AMB system with parameter uncertainty","authors":"S. Sivrioglu, K. Nonami","doi":"10.1109/CDC.2003.1271766","DOIUrl":"https://doi.org/10.1109/CDC.2003.1271766","url":null,"abstract":"In this study, a nonlinear control approach based on the control current switching of the electromagnets is realized experimentally for a flywheel AMB system. The adaptive output backstepping is used to compute nonlinear control currents by accepting that the rotor and AMB parameters are unknown. One of the improvements obtained in this study is the lower energy consumption of the AMB system due to decreased control currents. Simulation and experimental results showed promising improvements for practical implementations.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128305864","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
Partial stability preserving maps and stabilization 保持部分稳定的映射和稳定性
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272994
T. Djaferis
{"title":"Partial stability preserving maps and stabilization","authors":"T. Djaferis","doi":"10.1109/CDC.2003.1272994","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272994","url":null,"abstract":"This paper deals with the stabilization of systems using low-order controllers. We introduce the concept of a partial stability preserving map and show that stabilization with a low-order controller is equivalent to the existence of such a matrix map. This provides a different characterization of stabilization and allows for the development of tests and design techniques. We then combine this concept with the frequency parameterization of stable polynomials and show that stabilization is equivalent to the existence of common zeros of a finite number of multiaffine expressions in the space of ordered frequencies. We suggest an optimization technique for solving this problem that takes advantage of the special structure present.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128487652","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
Iterative learning control of robotic manipulators by hybrid adaptation schemes 基于混合自适应方案的机械臂迭代学习控制
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272216
Y. Miyasato
{"title":"Iterative learning control of robotic manipulators by hybrid adaptation schemes","authors":"Y. Miyasato","doi":"10.1109/CDC.2003.1272216","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272216","url":null,"abstract":"Iterative learning control (ILC) schemes have been one of the useful methods to achieve tracking control for uncertain processes with less prior information. Those generate desired control inputs for tracking through repetitions of the same tasks on the finite time interval, and have been applied to the control of various processes which execute the same operations over and over again. This paper provides an alternative approach to solve ILC of robotic manipulators by introducing hybrid adaptation schemes. The hybrid adaptation schemes are adaptive control structures which involve continuous-time control of processes and discrete-time updates of tuning parameters simultaneously. The main advantage of the proposed methodology is that the reference signals to be followed and the time intervals on which each operation is defined, are not necessarily identical to the ones in the other operations. Those peculiar features are owing to parameter estimation schemes included in the proposed methods.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128486061","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
A finite step projective algorithm for solving linear matrix inequalities 求解线性矩阵不等式的有限步投影算法
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272417
R. Orsi, M. A. Rami, J. Moore
{"title":"A finite step projective algorithm for solving linear matrix inequalities","authors":"R. Orsi, M. A. Rami, J. Moore","doi":"10.1109/CDC.2003.1272417","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272417","url":null,"abstract":"This paper presents an algorithm for finding feasible solutions of linear matrix inequalities. The algorithm is based on the method of alternating projections (MAP), a classical method for solving convex feasibility problems. Unlike MAP, which is an iterative method that converges asymptotically to a feasible point, the algorithm converges after a finite number of steps. The key computational component of the algorithm is an eigenvalue-eigenvector decomposition which is carried out at each iteration. Computational results for the algorithm are presented and comparisons are made with existing algorithms.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128693288","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
A generalization of piecewise linear Lyapunov functions 分段线性李雅普诺夫函数的推广
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272443
Y. Ohta, M. Tsuji
{"title":"A generalization of piecewise linear Lyapunov functions","authors":"Y. Ohta, M. Tsuji","doi":"10.1109/CDC.2003.1272443","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272443","url":null,"abstract":"The purpose of this paper is to propose a generalization of piecewise linear Lyapunov functions (PLLFs). In original PLLF candidates, functions are parameterized by hyperplanes, which intersect the stability region and stability conditions are formulated as linear programming problems (LPs) in terms of the parameters inserted by the hyperplanes. The piecewise linear hyperplanes (PLHPs) were introduced to reduce the size of LPs and produce a new class of PLLF candidates; however, applicable systems of this idea were restricted in a certain class of systems. In this paper, this restriction is removed and new PLLF candidates are characterized as the sum of piecewise linear functionals corresponding to PLHPs.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128347123","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
Nonlinear observers for perspective time-invariant linear systems 透视时不变线性系统的非线性观测器
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Pub Date : 2003-12-09 DOI: 10.1109/CDC.2003.1272315
R. Abdursul, H. Inaba, B. Ghosh
{"title":"Nonlinear observers for perspective time-invariant linear systems","authors":"R. Abdursul, H. Inaba, B. Ghosh","doi":"10.1109/CDC.2003.1272315","DOIUrl":"https://doi.org/10.1109/CDC.2003.1272315","url":null,"abstract":"Perspective dynamical systems arise in machine vision, in which only perspective observation is available. This paper proposes and studies a Luenberger-type nonlinear observer for perspective time-invariant linear systems. Assuming a given perspective time-invariant linear system to be Lyapunov stable and to satisfy some sort of detectability condition, it is shown that the estimation error converges exponentially to zero. Finally, a simple numerical example is presented to illustrate the result obtained.","PeriodicalId":371853,"journal":{"name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128729203","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: 52
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