29th IEEE Conference on Decision and Control

5-7 Dec. 1990

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Displaying Results 1 - 25 of 807
  • Controller parametrization and pole-placement design for simultaneous stabilization

    Publication Year: 1990, Page(s):3475 - 3480 vol.6
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    The authors investigate the use of stable inversion to obtain nonswitching controllers for the simultaneous stabilization of systems with multiple operating conditions. In a previous work (1990) the authors required the high-frequency gains of the models of the different operating conditions to satisfy a full rank condition. In this paper they remove that constraint and consider general system mod... View full abstract»

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  • A fixed H/sup infinity / controller for a supermaneuverable fighter performing the Herbst maneuver

    Publication Year: 1990
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (52 KB)

    Summary form only given, as follows. An H/sup infinity / flight control system design case study for a supermaneuverable fighter flying the Herbst maneuver is discussed. The Herbst maneuver presents an especially challenging flight control problem because of the extraordinarily large ranges of airspeed, angle of attack, and angular rates. A fixed H/sup infinity / controller has been developed for ... View full abstract»

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  • Proceedings of the 29th IEEE Conference on Decision and Control (Cat. No.90CH2917-3)

    Publication Year: 1990
    Request permission for commercial reuse | PDF file iconPDF (16 KB)
    Freely Available from IEEE
  • Modeling, design, and control of flexible manipulator arms: a tutorial review

    Publication Year: 1990, Page(s):500 - 506 vol.2
    Cited by:  Papers (48)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (841 KB)

    High performance manipulators with dynamic behavior in which the flexibility is an essential aspect are addressed. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are first examined. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discusse... View full abstract»

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  • Input-bounded nonlinear control of a chemical reactor

    Publication Year: 1990, Page(s):1618 - 1619 vol.3
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (200 KB)

    The authors present a geometric framework to address the problem of nonlinear control designs for chemical reactors that, under certain operation conditions, have a propensity to meet their input bounds. Conditions for the avoidance of undesired equilibrium points are presented. A dynamic analysis of the closed-loop behavior is performed. Numerical simulations are presented to illustrate some of t... View full abstract»

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  • Spatial discretization and approximation of distributed feedback loops and inputs

    Publication Year: 1990, Page(s):373 - 374 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (160 KB)

    The problem of approximating distributed feedback loops and inputs by discrete (in space) ones is studied in some detail. The proof is based on the Fredholm-Hilbert idea for solving integral equations. The main result gives sufficient conditions on the plant, input, and compensator enabling such an approximation. The result is illustrated by two examples. One of them is a heat equation and another... View full abstract»

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  • Robust adaptive regulation with minimal prior knowledge

    Publication Year: 1990, Page(s):985 - 990 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    An indirect adaptive regulator is designed, for time-varying, ill-modeled, and not necessarily stably invertible plants. The regulator provides the persistent excitation property which ensures closed-loop robust stability. The robustness problem in adaptive regulation can be solved without using the usual parameter estimator modifications, namely the dead-zone and the parameter projection or contr... View full abstract»

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  • Topological reasoning about dextrous manipulation

    Publication Year: 1990, Page(s):2214 - 2219 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (684 KB)

    An integrated symbolic-numeric scheme for dextrous manipulation that uses a topological approach is considered. A comprehensive summary and discussion of previous work and its extension to an intelligent robot prehension scheme are presented. A topological model of multifingered hands is reviewed and the notion of hand functionality, is introduced. It is shown that both hand posture and hand funct... View full abstract»

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  • H control of a certain nonlinear actuator

    Publication Year: 1990, Page(s):370 - 371 vol.1
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (180 KB)

    The authors designed an H controller and applied it to control a pneumatic rubber artificial muscle named Rubbertuator whose dynamics is highly nonlinear. Some simple experiments show the effectiveness of the controller. A short description of the experiments is provided View full abstract»

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  • Slow manifold matching in linear singularly perturbed systems with application to conservative networks

    Publication Year: 1990, Page(s):3571 - 3576 vol.6
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    The preservation of the conservative property of power system models without transfer conductance is investigated. It is shown that for linearized models, the approximate slow subsystems obtained from truncated asymptotic expansions can be regarded as the exact slow manifolds of a sequence of auxiliary singularly perturbed systems which converge to the original model. Based on this idea, it is pro... View full abstract»

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  • State feedback design using nonsquare descriptions

    Publication Year: 1990, Page(s):983 - 984 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (212 KB)

    The spectrum assignability problem is solved using nonsquare reduced-order matrices. A pole-placement technique is proposed to compute state feedback in multi-input linear systems. The proposed algorithm has good numerical behaviour and utilizes nonsquare pencils of reduced-order. The fact that the method deals with reduced-order pencils and exploits the Schur-Hessenberg form improves the conditio... View full abstract»

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  • An intelligent strategy to robot coordination and control

    Publication Year: 1990, Page(s):2208 - 2213 vol.4
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    Constructs an intelligent control strategy for the robust coordination and control of robot manipulators. Two strategic issues are considered for robot position/force control: (1) the effective integration of the low-level adaptive control law with the coordination-level intelligent system; (2) the design a robust robot controller to account for the contact forces frequently encountered in the exe... View full abstract»

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  • The convergence of output error identification and adaptive IIR filtering algorithms in the presence of colored noise

    Publication Year: 1990, Page(s):3534 - 3539 vol.6
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    The authors partially resolve the open problem of the global convergence and parameter consistency of the output error identification and adaptive IIR (infinite impulse response) filtering algorithms in the presence of independent additive colored noise. The algorithms considered include both the stochastic gradient and recursive least squares algorithms, employing a projection of the parameter es... View full abstract»

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  • Dynamics and control of robotic systems for assembly sets

    Publication Year: 1990, Page(s):368 - 369 vol.1
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (192 KB)

    Controlling an assembly set with a robotic system is discussed. The assembly set is formulated with a tree structure. Assembly tasks are treated as a tracking problem where the desired motion of the assembly set is described by the motion of one main body and the relative motions of other bodies with respect to the main body and others in series. Motion coordination and internal force regulation a... View full abstract»

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  • Kalman filtering and Riccati equations for multiscale processes

    Publication Year: 1990, Page(s):841 - 846 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (512 KB)

    Multiscale representations of signals and multiscale algorithms are addressed. A two-sweep smoothing algorithm is analyzed for fusing multiscale measurements of multiscale processes defined on trees. The algorithm is a generalization of the Rauch-Tung-Striebel algorithm for the smoothing of time series, and the filtering step differs from that of time series in that it consists of the successive f... View full abstract»

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  • Reversed frame normalizing design of a decentralized control system for a binary distillation column

    Publication Year: 1990, Page(s):1153 - 1155 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (272 KB)

    The reversed frame normalizing design technique of Y.S. Hung and A.G.F. MacFarlane (1982) is modified to yield decentralized controllers. This modified technique is applied to a binary distillation control problem. It results in a simple decentralized control law that proves to be superior to conventionally designed PI-controllers and no worse than higher-order decentralized controllers based on c... View full abstract»

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  • Application of singular perturbation theory to compressible mass flow rate integration

    Publication Year: 1990, Page(s):3565 - 3570 vol.6
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    A time efficient digital integration method for the solution of the orifice mass flow rate equations common in internal combustion engine breathing process simulation is discussed. Local linearization followed by development of a standard singular perturbation model is used to synthesize digital integrating factors that are applied to the original nonlinear differential equations. This approach re... View full abstract»

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  • Numerical algorithms for eigenvalue assignment problem via observer matrix equations

    Publication Year: 1990, Page(s):981 - 982 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (160 KB)

    A unified approach to the development of several algorithms for the well-known eigenvalue and canonical form assignment problems is presented via observer matrix equations. Furthermore, a relationship between these algorithms and the Q-R factorization method is explicitly stated. This relationship allows the algorithms to be implemented in a more numerically robust way. The algor... View full abstract»

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  • Adaptive control using a Kalman fibre based estimation algorithm

    Publication Year: 1990, Page(s):1432 - 1437 vol.3
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    The adaptive control of linear time-varying systems is addressed. A Kalman-filter-based estimation algorithm, which can be seen as a generalization of the least-squares algorithm, is considered. It is shown that a certainty equivalence controller leads to bounded disturbance/bounded state stability in the deterministic framework. A modified algorithm can be used to obtain identical results when un... View full abstract»

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  • A new efficient primal-dual decomposition algorithm for nonconvex optimization with separable structures

    Publication Year: 1990, Page(s):2456 - 2461 vol.4
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    A primal-dual decomposition algorithm that is a result of the authors' continued efforts toward solving nonconvex constrained optimization problems with separable structures is presented. This algorithm involves no matrix inverse in penalty terms, so it is more computationally efficient than existing algorithms. The new algorithm is shown to have a linear rate of convergence. Numerical examples ar... View full abstract»

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  • Fundamental theorem of linear state feedback for singular systems

    Publication Year: 1990, Page(s):67 - 72 vol.1
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    The problem is solved of simultaneously assigning the finite and infinite eigenstructure of the controllable singular system Ex'(t)=Ax(t)+Bu(t) by the proportional state feedback law u(t)=Fx(t). Given m monic polynomials d1(s), . . .,dm(s) of degrees d1,. . ., dm satisfying di+1(s)|di(s), and η (η=nullity of E) nonnegative i... View full abstract»

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  • Nonlinear reinforcement schemes for learning automata

    Publication Year: 1990, Page(s):2204 - 2207 vol.4
    Cited by:  Papers (2)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    The development and evaluation of two novel nonlinear reinforcement schemes for learning automata are presented. These schemes are designed to increase the rate of adaptation of the existing LR-P schemes while interacting with nonstationary environments. The first of these two schemes is called a nonlinear scheme incorporating history (NSIH) and the second a nonlinear scheme with unstab... View full abstract»

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  • Validity of model simplification

    Publication Year: 1990, Page(s):2904 - 2905 vol.5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (212 KB)

    The validity of model simplification is defined in statistical terms. Two models, the reference model and the simplified model, are compared. The simplified model is called 1-γ acceptable if it is not rejected with probability 1-γ, by a statistical test which uses data generated by the reference model. The model is called a valid simplification on the validity level ν if the ratio o... View full abstract»

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  • Solution of discrete H optimal control problems using a state-space approach

    Publication Year: 1990, Page(s):1775 - 1780 vol.3
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    The solution of the H∞ optimal control problem is considered for discrete-time systems which are represented in state equation form. The solution of the Nehari one-block problem is very straightforward and an explicit solution is obtained. The results are more complicated than for the continuous-time problem but are nevertheless simple to implement in standard CAD (comput... View full abstract»

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  • Unbounded drift in the under-excited signed equation error adaptive identifier

    Publication Year: 1990, Page(s):3528 - 3533 vol.6
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    An adaptive identification algorithm known as the signed error (SE) algorithm is considered. This algorithm involves modifying the classical least mean squares (LMS) algorithm through the introduction of a signum function in the prediction error multiplicand of the LMS update kernel. It is shown that certain classes of nonpersistently exciting regressors cause this algorithm to diverge even in the... View full abstract»

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