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1985 24th IEEE Conference on Decision and Control

11-13 Dec. 1985

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Displaying Results 1 - 25 of 467
  • [Front cover and table of contents]

    Publication Year: 1985, Page(s): c1
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    Freely Available from IEEE
  • Foreword

    Publication Year: 1985, Page(s): iii
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    Freely Available from IEEE
  • Robot kinematics and coordinate transformations

    Publication Year: 1985, Page(s):1 - 4
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (286 KB)

    This paper introduces a class of linearizing coordinate transformations for mechanical systems whose moment of inertia matrLx has a square root which is a jacobian. The transformations, when they exist, define a local isometry from joint space to euclidean space, hence, may afford further insight into the transient behavior of robot motion. It remains to be seen whether any appreciably large class... View full abstract»

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  • Elbow and elbow manipulators are optimal!

    Publication Year: 1985, Page(s):5 - 11
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (575 KB)

    We show that the elbow manipulators and their duals are the optimal designs for 6R manipulators. The performance measures used are those of work-volume and a property defined herein called well-connected-workspace. It is shown that a 6R manipulator, M, has maximal work-volume and a well-connected-workspace if and only if M or M* (its dual) is an elbow manipulator. View full abstract»

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  • Force and motion management in legged locomotion

    Publication Year: 1985, Page(s):12 - 17
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (383 KB)

    The control of a legged locomotion system over uneven terrain requires a new approach to coordination. The system has a high degree of static indeterminacy and, because of the stiffness of the structural and actuation systems, has stability problems if position-velocity control is used. The problem has many similarities to that of grasping and manipulating an object in a multi-fingered hand. The s... View full abstract»

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  • Design of kinematically redundant mechanisms

    Publication Year: 1985, Page(s):18 - 21
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (193 KB)

    It has been noted that obstacles in the workspace can effectively reduce the number of degrees of freedom of a robot mechanism. For a nonredundant mechanism this can result in reduced functionallity, but it need not be a problem when there are extra degrees of freedom. Indeed. it is possible to design motion planning algorithms which in the process of steering the manipulator away from obstacles a... View full abstract»

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  • A bang-bang regulator and its application to DC-motor speed control

    Publication Year: 1985, Page(s):22 - 26
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    In, this paper we propose a simple method to constitute a closed-loop type on-off controller. This on-off controller (bang-bang regulator) can take the place of ordinary analog feedback with pulse modulation more satisfactory. Its validity is verified by laboratory test concerning with DC-motor speed control. View full abstract»

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  • A general theorem of symmetries and local controllability

    Publication Year: 1985, Page(s):27 - 32
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (600 KB)

    We state a general sufficient condition for local controllability of a nonlinear system at an equilibrium point. Earlier results of Brunovsky, Hermes, Jurdjevic, Crouch and Byrnes, Sussmann, Grossman, turn out to be particular cases of this result. Also, a number of new sufficient conditions can be derived. All these results are consequences of one simple general principle, namely, that local cont... View full abstract»

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  • Polynomial approximations to control systems and local controllability

    Publication Year: 1985, Page(s):33 - 38
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (409 KB)

    This paper is concerned with studying some local properties of a control system via polynomial approximations induced by suitable filtrations of the Lie Algebra associated to the system. The approximations may be obtained by means of a finite algorithm. View full abstract»

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  • Nonadditively coupled delayed controls

    Publication Year: 1985, Page(s):39 - 40
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (167 KB)

    First Page of the Article
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  • Deadbeat property of the receding horizon control scheme

    Publication Year: 1985, Page(s):41 - 42
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (88 KB)

    The deadbeat property of the receding-horizon controllers for a class of multi-input systems is examined. View full abstract»

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  • Stability and security assessment of a class of systems governed by Lagrange's equation with application to multi-machine power systems

    Publication Year: 1985, Page(s):43 - 48
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (498 KB)

    In recent studies, it has been verified heuristically and experimentally (via simulations) that instability in power systems due to a fault occurs when one machine or a group of machines, called the critical group, loses synchronism with the remaining machines. Using energy functions associated with a critical group (rather than system-wide energy functions), transient stability results which are ... View full abstract»

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  • Theory of the potential energy boundary surface

    Publication Year: 1985, Page(s):49 - 51
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (256 KB)

    In this paper we provide a theoretical foundation of the PEBS method. First, we study the properties of the stability boundary of a gradient system. We then relate the stability boundary of a class of second-order dynamical systems to the gradient system. Using these results, we analyze the PEBS method. Conditions under which the PEBS method gives accurate stability estimate are discussed. View full abstract»

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  • A review of dynamic security indices based on direct methods

    Publication Year: 1985, Page(s):52 - 57
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (546 KB)

    This paper gives a comparison of various performance indices and criteria used in power system stability analysis. The focus is on stability criteria based on direct methods (i.e., Lyapunov stability criteria). The comparison is made by first recasting the performance indices, and their underlying system models, in a unified notation and then identifying all the salient features of the mathematica... View full abstract»

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  • A local potential energy boundary surface method for power system atability assessment

    Publication Year: 1985, Page(s):58 - 64
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (618 KB)

    A necessary and sufficient condition for loss of transient stability is derived that describes a region of instability. A region of stability is also theoretically justified. A local potential energy boundary surface method is then developed based on a cutset energy function and the theoretically based descriptions of the region of stability and region of instability. The PEBS method is applied to... View full abstract»

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  • Towards a direct test for large scale electric power system instabilities

    Publication Year: 1985, Page(s):65 - 69
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (434 KB)

    This paper explores the relationship between the actual domain of attraction of the swing equations of electric power systems and that of the associated gradient system. A directly implementable on-line test for instability is proposed together with an iterative method guaranteed to improve estimates of the domain of attraction. View full abstract»

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  • Structure preserving direct methods for transient stability analysis of power systems

    Publication Year: 1985, Page(s):70 - 76
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (712 KB)

    A structure preserving network configuration is considered, along with many realistic types of active and reactive load models. A unified approach is developed and general energy Liapunov functions are accordingly constructed. Practical stability domains and their use for devising appropriate direct criteria are proposed. Implementation considerations are discussed and illustrated. View full abstract»

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  • Transient stability determination using differential inclusions

    Publication Year: 1985, Page(s):77 - 80
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (325 KB)

    This paper formalizes the ideas presented in [1]. It is shown that, the power system dynamics can be modeled as dx/dt ?? G(x) (which we call differential inclusion) where x is a 2-vector and G() is a point to set mapping. The concept of fuzzy trajectories is defined as the solution to the above equation. The structure of G(x) provides as with a simple characterization of the solution. View full abstract»

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  • On-three time scale analysis

    Publication Year: 1985, Page(s):81 - 85
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    For a three-time scale system, a decomposition technique is proposed to decouple the original system into a "slow," "fast 1," and "fast 2" (faster than fast 1) subsystems. The technique involves block diagonalization using three-stage linear transformations. A numerical algorithm is presented to solve the resulting Riccati type equations. A 9th order example is provided to illustrate the proposed ... View full abstract»

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  • Singular perturbation methods for discrete time systems

    Publication Year: 1985, Page(s):86 - 94
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (574 KB)

    Some problems associated with applications of the singular perturbation method to the two-time scale discretized time systems are addressed. In practice, the small parameter of the fast time system is often implicit or unknown. A redefinition of the two-time scale property is proposed to resolve this and other related problems. Application to optimal regulators, design tradeoffs, and performance e... View full abstract»

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  • Eigenvalue assignment procedure for delayed interconnected system by expansion

    Publication Year: 1985, Page(s):95 - 98
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (285 KB)

    A procedure for constructing the decentralized and the hierarchical control that achieves precise eigenvalue assignment for dynamically interconnected system is presented. Delays in signals transmitted through the interconnecting channels is taken into consideration. It will be shown that the problem can be solved by reformulating it also as an assignment problem for an independent of delay augmen... View full abstract»

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  • On a class of decentralized discrete-time adaptive control problems

    Publication Year: 1985, Page(s):99 - 103
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (273 KB)

    This paper considers a decentralized adaptive control problem for a class of discrete-time multi-input multi-output deterministic linear systems. It is shown that, under a weak coupling condition, the Projection Algorithm will ensure that the system inputs and outputs remain bounded for all time and that each controller can successfully make the corresponding output tracking error converge to zero... View full abstract»

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  • The optimal projection equations for fixed-structure decentralized dynamic compensation

    Publication Year: 1985, Page(s):104 - 107
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (321 KB)

    The optimal projection equations for quadratically optimal fixed-order (centralized) dynamic compensation obtained in [5] are generalized to the case in which the dynamic compensator has, in addition, a fixed decentralized structure. Under a stabilizability assumption for the particular feedback configuration, the resulting optimality conditions provide the insight that each subcontroller must pos... View full abstract»

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  • Decentralized adaptive flow control in store-and-forward computer networks

    Publication Year: 1985, Page(s):108 - 109
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (206 KB)

    A dynamic window mechanism for the end-to-end flow control in a store-and-forward computer network is proposed based upon a quasi-static model. Window size and time-out are adjusted periodically according to an estimated equivalent subnet channel capacity. Simulation results show that there is significant performance improvement by comparing the proposed scheme with the static one. View full abstract»

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  • Mathematical modelling for large system with application to service systems

    Publication Year: 1985, Page(s):110 - 111
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (183 KB)

    In an automized command system controlling the whole combat activity we apply the "Queuing Theory" to deal with the analysis of "Service Systems". The "Demands" coming into this system are the aircrafts, creating the random "Input Flow". The basis for derivation of such problem consists, according to my opinion, in the correct choice of corresponding criteria of efficiency. We give a generalized s... View full abstract»

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