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Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)最新文献

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Towards the supervisory control of uncertain nonholonomic systems 不确定非完整系统的监督控制
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.782421
J. Hespanha, D. Liberzon, A. Morse
{"title":"Towards the supervisory control of uncertain nonholonomic systems","authors":"J. Hespanha, D. Liberzon, A. Morse","doi":"10.1109/ACC.1999.782421","DOIUrl":"https://doi.org/10.1109/ACC.1999.782421","url":null,"abstract":"This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by the nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"167 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121087343","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: 74
Friction compensation via smooth adaptive dynamic surface control 通过平滑自适应动态表面控制进行摩擦补偿
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.782886
A. Maulana, H. Ohmori, A. Sano
{"title":"Friction compensation via smooth adaptive dynamic surface control","authors":"A. Maulana, H. Ohmori, A. Sano","doi":"10.1109/ACC.1999.782886","DOIUrl":"https://doi.org/10.1109/ACC.1999.782886","url":null,"abstract":"This paper is dealing with a development of friction compensation scheme for positional set-point regulation at DC motor servomechanism via smooth adaptive dynamic surface control design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability is achieved using Lyapunov's direct method. Numerical simulation is presented to confirm the capability of the proposed scheme.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129538410","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: 4
New approach of induction machine drive using an adaptive digital PID controller with gain planning based on artificial neural networks 基于人工神经网络的增益规划自适应数字PID控制器在感应电机驱动中的应用
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.786327
M. E. Bordon, I. D. da Silva, A. N. de Souza
{"title":"New approach of induction machine drive using an adaptive digital PID controller with gain planning based on artificial neural networks","authors":"M. E. Bordon, I. D. da Silva, A. N. de Souza","doi":"10.1109/ACC.1999.786327","DOIUrl":"https://doi.org/10.1109/ACC.1999.786327","url":null,"abstract":"Introduces a strategy of induction machines speed adjustment using an adaptive PID digital controller with gain planning based on artificial neural networks. This digital controller uses an auxiliary variable to determine the ideal induction machine operating conditions and to establish the closed loop gain of the system. The auxiliary variable value can be estimated from the information stored in a general-purpose artificial neural network based on CMAC.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133931730","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
Globally stabilizing second order nonlinear systems by SDRE control 二阶非线性系统的SDRE全局稳定控制
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.786502
E. B. Erdem, A. Alleyne
{"title":"Globally stabilizing second order nonlinear systems by SDRE control","authors":"E. B. Erdem, A. Alleyne","doi":"10.1109/ACC.1999.786502","DOIUrl":"https://doi.org/10.1109/ACC.1999.786502","url":null,"abstract":"Infinite-horizon nonlinear regulation of second order systems using the state dependent Riccati equation (SDRE) method is considered. By a convenient parametrization of the A(x) matrix, the state dependent algebraic Riccati equation is solved analytically. Thus, the closed-loop system equations are obtained in analytical form. Global stability analysis is performed by the second method of Lyapunov. By the aforementioned parametrization, it is sufficient for the Lyapunov function derivative to be negative semi-definite to achieve global asymptotic stability. Accordingly, a relatively simple condition for global asymptotic stability of the closed-loop system is derived. Two illustrative examples are included.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127669268","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: 31
Verification of an automotive active leveler 汽车主动矫直机的验证
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.786493
N. Elia, B. Brandin
{"title":"Verification of an automotive active leveler","authors":"N. Elia, B. Brandin","doi":"10.1109/ACC.1999.786493","DOIUrl":"https://doi.org/10.1109/ACC.1999.786493","url":null,"abstract":"We analyze an active leveler designed for automotive applications. The objective of the system is to maintain the height of the car body to a fixed value, despite changes in loads and driving conditions. The objective of the paper is to propose a verification method for checking that certain design specifications, or system performances are achieved. We are able to compute exact bounds on the maximum suspension deflection for the given model of the system and road disturbance. The motivation for this work comes from the disappointing results of Stanner et al. (1997) where the problem was approached by using HYTECH. The numerical and computational complexity problems reported in the above article have their common roots in the need to fit and approximate the actual model with a linear hybrid model.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129637189","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: 12
A new look at robust backstepping through state-dependent scaling design 通过状态依赖的缩放设计，对鲁棒回溯进行了新的研究
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.782731
H. Ito, R. Freeman
{"title":"A new look at robust backstepping through state-dependent scaling design","authors":"H. Ito, R. Freeman","doi":"10.1109/ACC.1999.782731","DOIUrl":"https://doi.org/10.1109/ACC.1999.782731","url":null,"abstract":"Considers global and semi-global robust stabilization problems for a class of uncertain nonlinear systems and develops a new systematic tool for robust backstepping. By choosing state-dependent scaling functions in each step of the backstepping design, one can construct robust control laws for an extended class of strict feedback systems. The scaling approach to robust backstepping treats both static and dynamic uncertainty in a unified way. The method is amenable to automatic computation based on optimization, and one can thus introduce performance objectives such as instantaneous control effort minimization into the design.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123113323","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: 12
Robust output feedback control of parabolic PDE systems with time-dependent spatial domains 具有时变空域的抛物型PDE系统的鲁棒输出反馈控制
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.786132
A. Armaou, P. Christofides
{"title":"Robust output feedback control of parabolic PDE systems with time-dependent spatial domains","authors":"A. Armaou, P. Christofides","doi":"10.1109/ACC.1999.786132","DOIUrl":"https://doi.org/10.1109/ACC.1999.786132","url":null,"abstract":"We synthesize robust static output feedback controllers for systems of quasi-linear parabolic partial differential equations with time-dependent spatial domains and uncertain variables. The controllers are successfully applied to a typical diffusion-reaction process with moving boundary and uncertainty.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130640078","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: 4
Adaptive control of two-link manipulator via dynamic neural network 基于动态神经网络的双连杆机械臂自适应控制
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.786507
Wen Yu, A. Poznyak, Encarna Sosa Sánchez
{"title":"Adaptive control of two-link manipulator via dynamic neural network","authors":"Wen Yu, A. Poznyak, Encarna Sosa Sánchez","doi":"10.1109/ACC.1999.786507","DOIUrl":"https://doi.org/10.1109/ACC.1999.786507","url":null,"abstract":"A neurocontrol method for robot manipulators is presented. A single-layer dynamic neural network is used to estimate the unknown manipulators, then a direct linearization controller is derived based on the neuro identifier. Because the approximation capability is limited, another PD-like controller is applied to compensate the unmodeled dynamics. The main contribution of the paper is that the boundness of the identification error and tracking error are established.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127605877","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 method for solving the algebraic Riccati and Lyapunov equations using higher order matrix sign function algorithms 用高阶矩阵符号函数算法求解代数Riccati和Lyapunov方程的方法
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.786463
M. Hasan, Jiann-Shiou Yang, A. Hasan
{"title":"A method for solving the algebraic Riccati and Lyapunov equations using higher order matrix sign function algorithms","authors":"M. Hasan, Jiann-Shiou Yang, A. Hasan","doi":"10.1109/ACC.1999.786463","DOIUrl":"https://doi.org/10.1109/ACC.1999.786463","url":null,"abstract":"A set of higher order rational fixed point functions for computing the matrix sign function of complex matrices is developed. Our main focus is the representation of these rational functions in partial fraction form which in turn allows for a parallel implementation of the matrix sign function algorithms. The matrix sign function is then used to compute the positive semidefinite solution of the algebraic Riccati and Lyapunov matrix equations. It is also suggested that the proposed methods can be used to compute the invariant subspaces of a nonsingular matrix in any half plane. The performance of these methods is demonstrated by several examples.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130859908","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
Control under a hierarchical decision making structure 在层次决策结构下的控制
Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI: 10.1109/ACC.1999.786572
P. Voulgaris
{"title":"Control under a hierarchical decision making structure","authors":"P. Voulgaris","doi":"10.1109/ACC.1999.786572","DOIUrl":"https://doi.org/10.1109/ACC.1999.786572","url":null,"abstract":"This paper presents an input-output point of view for the problem of optimal command following and disturbance rejection when a particular hierarchical structure is imposed on the decision making units of the system. This structure constraints the transmission of information to be only from upper to lower levels and not vice versa. By using model matching methods the problem is shown to be convex. Techniques to solve this convex yet nonstandard problem are discussed.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131928635","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
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