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Decision and Control, 1982 21st IEEE Conference on

Date 8-10 Dec. 1982

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Displaying Results 1 - 25 of 299
  • [Front cover and table of contents]

    Publication Year: 1982, Page(s): c1
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    Freely Available from IEEE
  • Foreword

    Publication Year: 1982, Page(s): v
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    Freely Available from IEEE
  • Robustness issues in adaptive control

    Publication Year: 1982, Page(s):1 - 2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (177 KB)

    This short paper is intended as an introduction to the invited session by the same name held at the 21st Conference on Decision and Control at Orlando, Florida in December 1982. This paper provides a preliminary categorization of robustness issues in adaptive control and introduces the six papers to be presented by relating them to this framework. View full abstract»

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  • Robustness of adaptive control algorithms in the presence of unmodeled dynamics

    Publication Year: 1982, Page(s):3 - 11
    Cited by:  Papers (76)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (702 KB)

    This paper reports the outcome of an exhaustive analytical and numerical investigation of stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances. The class of adaptive algorithms considered are those commonly referred to as model-reference adaptive control algorithms, self-tuning controllers, and dead-beat ad... View full abstract»

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  • Exponential convergence and persistent excitation

    Publication Year: 1982, Page(s):12 - 17
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (554 KB)

    The notion of robustness of an adaptive algorithm is discussed. A number of simple examples are given of adaptive algorithms behaving in a nonrobust manner, and then conditions for robustness are presented which demand use of persistently exciting signals. View full abstract»

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  • Performance robustness properties of adaptive control systems

    Publication Year: 1982, Page(s):18 - 23
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (469 KB)

    Currently available adaptive control algorithms experience difficulties in the presence of unmodeled plant dynamics. In this paper conditions are derived which guarantee that the adaptive controller will have specified performance despite plant uncertainty and unmodeled dynamics. These conditions provide guidelines for the analysis and design of robust adaptive controllers. A combination of result... View full abstract»

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  • Singular perturbations and robust redesign of adaptive control

    Publication Year: 1982, Page(s):24 - 29
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (518 KB)

    Effects of unmodeled high frequency dynamics on stability and performance of adaptive control schemes are analyzed. In the regulation problem global stability properties are no longer guaranteed, but a region of attraction exists for exact adaptive regulation. The dependence of the region of attraction on unmodeled parasitics is examined first. Then the general case of model reference adaptive con... View full abstract»

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  • The spatial order reduction problem and its effect on adaptive control of distributed parameter systems

    Publication Year: 1982, Page(s):30 - 32
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (263 KB)

    First Page of the Article
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  • Implementation aspects of adaptive controllers and their influence on robustness

    Publication Year: 1982, Page(s):33 - 37
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (387 KB)

    There are many engineering issues that must to be considered when implementing an adaptive controller. Some of the issues covered in this paper are parameter tracking, estimation windup, reset action, robustness, and start up. View full abstract»

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  • Computing the small singular values of large matrices

    Publication Year: 1982, Page(s):38 - 45
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (991 KB)

    We consider the difficult problem of computing the smallest singular values and corresponding singular vectors of large matrices, matrices of order several hundred to several thousand. We compute these quantities by computing corresponding eigenvalues and eigenvectors of related symmetric matrices. We discuss several mechanisms for accelerating the computations which may also prove useful in other... View full abstract»

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  • Estimating point spectra using the Lanczos algorithm

    Publication Year: 1982, Page(s):46 - 50
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (391 KB)

    An efficient method is presented for estimating the coefficients and roots of an autoregressive scheme where the roots are forced to lie on the unit circle. The spectrum of such a process is naturally interpreted to be a discrete measure and the algorithm is derived from the Lanczos method of approximating eigenvalues of a symmetric matrix. An extension is presented that is biased to detecting fre... View full abstract»

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  • On computation of transmission zeros and transfer functions

    Publication Year: 1982, Page(s):51 - 55
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (357 KB)

    The problem of balancing the state space system matrices of a linear time-invariant system prior to computation of its transmission zeros is considered. It is shown that in some cases balancing has a significant effect on the accuracy of the computed transmission zeros. An algorithm designed specifically for balancing the system matrices for the computation of transmission zeros is presented. The ... View full abstract»

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  • Schur techniques in invariant imbedding methods for solving two-point boundary value problems

    Publication Year: 1982, Page(s):56 - 61
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (529 KB)

    Schur-type techniques for the solution of various types of Riccati equations by means of associated generalized eigenvalue/eigenvector problems are discussed. In the case of symmetric Riccati equations various aspects of an associated generalized Hamiltonian or symplectic structure are considered. The same generalized eigenvalue/eigenvector methodology carries through to the solution of nonsymmetr... View full abstract»

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  • An algorithm for pole assignment of time invariant multi-input linear systems

    Publication Year: 1982, Page(s):62 - 67
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (390 KB)

    An algorithm is suggested for the computation of a linear state feedback for a multi-input system such that the matrix of the resultant closed-loop system has specified eigenvalues. The algorithm is more efficient than many comparable techniques, and has some desirable numerical properties. It is also closely related to the QR algorithm for the eigenproblem. View full abstract»

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  • A general algorithm for solving the algebraic Riccati equation

    Publication Year: 1982, Page(s):68 - 72
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    The generalized eigenvalue problem provides a suitable framework for reliable solutions of many system theoretic, control, and estimation problems. A general algorithm for solving the matrix algebraic Riccati equation (ARE) which utilizes a pencil structure is described here. This algorithm avoids unnecessary inversion of cost or transition matrices, making it a numerically sound way to solve for ... View full abstract»

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  • A new antagonistic actuator for robot control

    Publication Year: 1982, Page(s):73 - 79
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (417 KB)

    The need for advances in actuators for robotic applications has been recognized by the research and development community for some time [Research Needed to Advance the State of Knowledge in Robotics, NSF Workshop, Rhode Island University, April, 1980]. A key limitation with existing actuator technology is the inability of these actuators to provide precision control especially under rapidly changi... View full abstract»

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  • Workspace and control strategy determination for an underwater manipulator

    Publication Year: 1982, Page(s):80 - 83
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (342 KB)

    This paper presents methods to obtain automatically the workspaces of mechanical manipulators and the corresponding feasible control paths. The workspaces depend on the tasks to be performed and therefore are different from the geometrical locus of the end point. Due to the strong non-linearities of the mathematical model, the extremum-finding problem may lead to several local solutions. A global ... View full abstract»

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  • Collision-free path planning for industrial robots

    Publication Year: 1982, Page(s):84 - 88
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (342 KB)

    A collision-free path is a path which the robot can physically take while traveling from one location to another in an environment containing obstacles. The environment is modified by the inclusion of pseudo-obstacles which are generated by real obstacles' edges and faces; this process allows the robot itself to be represented by a point specifying its tip's location in space. An algorithm for det... View full abstract»

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  • High speed computation of the inverse Jacobian matrix and of servo inputs for robot arm control

    Publication Year: 1982, Page(s):89 - 94
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    For controlling in real time robot arms having six degrees of freedom, the most efficient way is to use an incremental method which consists in deriving the variations of the six variables si associated to the degrees of freedom from those of the six variables xj representing the position and the orientation of the end effector, using the inverse jacobian matrix J-1. We have developed a method avo... View full abstract»

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  • An adaptive control strategy for computer-based manipulators

    Publication Year: 1982, Page(s):95 - 100
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (537 KB)

    This paper focuses on the study of an adaptive control method based on the perturbation equations in the vicinity of a desired trajectory. The highly coupled nonlinear dynamic equations of a manipulator are expanded in the vicinity of a preplanned joint trajectory to obtain the perturbation equations. These perturbation equations are then used to design a feed-back control law about the desired tr... View full abstract»

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  • Projected Newton methods and optimization of multicommodity flows

    Publication Year: 1982, Page(s):101 - 108
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (673 KB)

    A superlinearly convergent Newton-like method for linearly constrained optimization problems is adapted for solution of multicommodity network flow problems of the type arising in communication and transportation networks. We show that the method can be implemented approximately by making use of conjugate gradient iterations without the need to compute explicitly the Hessian matrix. Preliminary co... View full abstract»

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  • "A reliable broadcast protocol"

    Publication Year: 1982, Page(s):109 - 111
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    Broadcast in a communication network is the delivery of copies of messages to all nodes. A broadcast algorithm is reliable if all messages reach all nodes in finite time, in the correct order and with no duplication. The present paper presents an efficient, reliable broadcast algorithm. View full abstract»

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  • Performance of end-to-end and gateway-to-gateway flow control procedures in internet environments

    Publication Year: 1982, Page(s):112 - 119
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (770 KB)

    A performance comparison between end-to-end flow control (EEFC) and gateway-to-gateway flow control (GGFC) in internet environments is presented. The performance is measured in terms of average delivery delay of packets. First, a new technique for computing the average delivery delay across a network is introduced. It is shown that, for a given input rate to the network, there exists an optimum ti... View full abstract»

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  • A dynamic alternate route strategy for traffic networks

    Publication Year: 1982, Page(s):120 - 124
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (370 KB)

    A dynamic alternate route strategy is developed for a typical node of a traffic network. The strategy compares the queue length at the node against an optimal threshold value. When the threshold is exceeded, some of the traffic is diverted along an alternate more costly route to its destination. The local node level strategy is easily implemented in real time and is also adaptive to changes in rou... View full abstract»

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  • Random access with limited carrier sensing

    Publication Year: 1982, Page(s):125 - 129
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (450 KB)

    In this paper, we consider the random-accessing of a single slotted channel by a finite number of independent, data transmitting users. We adopt the realistic assumption that each user monitors the channel or carrier only when he is blocked. We also assume that the channel outcomes visible to each user are trinary. That is, each channel slot is perceived as either empty or successfully busy, or as... View full abstract»

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