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19-21 June 1985

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Displaying Results 1 - 25 of 331
  • Proceedings of the 1985 American Control Conference

    Publication Year: 1985, Page(s): 1
    IEEE is not the copyright holder of this material | PDF file iconPDF (26 KB)
    Freely Available from IEEE
  • Copyright page

    Publication Year: 1985, Page(s): 2
    IEEE is not the copyright holder of this material | PDF file iconPDF (19 KB)
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  • Forward [sic]

    Publication Year: 1985, Page(s): 3
    Cited by:  Papers (1)
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  • Dedication [to Howard Elliot]

    Publication Year: 1985
    IEEE is not the copyright holder of this material | PDF file iconPDF (98 KB)
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  • AACC Awards

    Publication Year: 1985, Page(s): 6
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  • Operating Committee

    Publication Year: 1985, Page(s): 7
    IEEE is not the copyright holder of this material | PDF file iconPDF (46 KB)
    Freely Available from IEEE
  • Program Committee

    Publication Year: 1985, Page(s): 7
    IEEE is not the copyright holder of this material | PDF file iconPDF (46 KB)
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  • CC 1985 Program at a Glance

    Publication Year: 1985, Page(s): 8
    IEEE is not the copyright holder of this material | PDF file iconPDF (63 KB)
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  • Table of contents and Program

    Publication Year: 1985, Page(s):9 - 32
    IEEE is not the copyright holder of this material | PDF file iconPDF (2232 KB)
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  • Optimal Missile Midcourse and Terminal Guidance and Control Law Design

    Publication Year: 1985, Page(s):1 - 6
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (344 KB)

    This paper summarizes a combined midcourse and terminal guidance and control law design of missiles to achieve range enhancement and stability with excellent intercept performance. We derive analytic solutions of a closed loop, nonlinear optimal guidance law for three dimensional flight for both the midcourse and terminal phases. Since this combined guidance law contains the proportional navigatio... View full abstract»

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  • Time-Varying Smoothing for Proportional Navigation

    Publication Year: 1985, Page(s):7 - 17
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (730 KB)

    Variable smoothing in proportional navigation is implemented by modern homing guidance with time-varying state estimation followed by time-varying control. This system is examined by the techniques associated with classical homing guidance, normalized adjoints and idealized trajectory responses. View full abstract»

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  • Identification of Parameters and Model Structure for Missile Aerodynamics

    Publication Year: 1985, Page(s):18 - 26
    Cited by:  Papers (1)  |  Patents (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (850 KB)

    In this paper, current work on the Aerodynamic Coefficient Estimation (ACES) program for guided missiles is reviewed. A fundamental statistical approach to the problem is taken, and recent developments in the identification of model structure are used including: initial comparison of parametric model structures by subset regression using a leaps and bounds algorithm, refined comparison of differen... View full abstract»

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  • PDF Not Yet Available In IEEE Xplore

    Publication Year: 1985, Page(s): 27
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (65 KB)

    The document that should appear here is not currently available. IEEE Xplore® is working to obtain a replacement PDF. That PDF will be posted as soon as it is available. View full abstract»

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  • New Controller Designs for Robot Manipulator Systems

    Publication Year: 1985, Page(s):38 - 43
    Cited by:  Papers (5)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (405 KB)

    Several different controllers for robot manipulator systems based on the general adaptive control theory using Lyapunov direct method are designed. Simplicities and/or complexities of these designs are described by simulation to indicate the relative importance and advantage of each design with respect to the others. A way of improving the transient response and convergence speed of a multivariabl... View full abstract»

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  • Decentralized Model Reference Adaptive Control of Robotic Manipulators

    Publication Year: 1985, Page(s):44 - 49
    Cited by:  Papers (10)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (447 KB)

    This paper presents a class of decentralized adaptive control schemes based on a model reference approach for a multi-jointed robotic manipulator. An integrated model for the combined dynamics of the manipulator and the joint actuators is developed which provides an ideal framework for the design of decentralized controllers. The adaptive control schemes obtained consist of an on-line recursive es... View full abstract»

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  • Dynamics of a Closed Chain Manipulator

    Publication Year: 1985, Page(s):50 - 54
    Cited by:  Papers (28)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (286 KB)

    In many manipulator configurations, where the end effector of the manipulator is in contact with a fixed object, a complete mathematical model for the manipulator dynamics should include the effects of the resulting contact force between the end effector and the fixed object. Equations for such a closed chain manipulator are developed, where the end effector constraint is defined by a smooth manif... View full abstract»

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  • A Control-Configured End Effector for a Visual Servoing Algorithm

    Publication Year: 1985, Page(s):55 - 60
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (494 KB)

    An algorithm is presented for using a robot system with a single camera to position in three-dimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A... View full abstract»

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  • Sub-Optimal Control Strategies for Manipulators with Actuator Constraints: The Near Minimum Time Problem

    Publication Year: 1985, Page(s):61 - 62
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (128 KB)

    In this paper, we investigate the feasibility of employing a sub-optimal control strategy which results in "near minimum time" motion for a robotic manipulator along any pre-determined path in 3-D space. A computationally simple algorithm based on Optimal Aiming Strategies is presented. The applicability of the proposed algorithm is demonstrated through a two-link manipulator example. View full abstract»

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  • Control, Performance and Applications of Antagonist Actuated Manipulator Joints

    Publication Year: 1985, Page(s):63 - 64
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (119 KB)

    Antagonist actuated joints are defined as being driven by a pair of opposing actuators, as in the arrangement of muscles in human joints. A simple method of controlling the motion and varying the compliance of the joint is presented, along with examples of the performance of a prototype joint. The use of antagonist actuators to reduce the size, inertia and backlash of manipulator arm joints is dis... View full abstract»

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  • Compliance Analysis and Tool Holder Design for Grinding with Robots

    Publication Year: 1985, Page(s):65 - 68
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (230 KB)

    Grinding robots must hold and guide a grinding tool in the face of large vibratory loads. This paper presents an optimal compliance design for grinding tool suspension systems, with the objective of reducing vibrations and maximizing material removal rate. First, the endpoint compliance matrix of the main robot is utilized to determines the optimal workpiece position and orientation. Then a method... View full abstract»

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  • On the Control of Robots with Elastic Joints

    Publication Year: 1985, Page(s):69 - 70
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (179 KB)

    The problem of controlling robots with flexible joints is considered. After recalling the exact nonlinear model it is shown that the model is singularly perturbed if joints are nearly stiff. Singular perturbation techniques are used to add a stabilizing control signal to well established control laws obtained under the assumption of stiff joints. View full abstract»

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  • A Proof of Global Stability of a Direct Adaptive Pole Placement Scheme for Multivariable Systems

    Publication Year: 1985, Page(s):71 - 76
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (327 KB)

    A proof of global stability of a specific direct adaptive pole placement scheme for linear multivariable systems is presented here. It is based upon the idea of block processing of input-output data. The global stability result is established under the assumption that the external reference signal consists of a sum of at least a specificied minimum number of distinct sinusoids. View full abstract»

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  • A Smooth Algorithm for Adaptive Stabilization of a Discrete Linear System with an Unknown High Frequency Gain

    Publication Year: 1985, Page(s):77 - 80
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (228 KB)

    This paper presents a simple algorithm for adaptively stabilizing a linear one-dimensional discrete time process. Prior knowledge of the sign of the process high frequency gain is not required, and the adaptive control law is a continuous function of its arguments. Performance of the algorithm is considered and a simple modification is suggested to improve algorithm convergence rate while preservi... View full abstract»

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  • An Investigation of Adaptive Control Techniques for Space Stations

    Publication Year: 1985, Page(s):81 - 94
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (800 KB)

    Of all large space structural systems, space stations present a unique challenge and requirement to advanced control technology. Their operations require control system stability over an extremely broad range of parameter changes and high level of disturbances. During shuttle docking the system mass may suddenly increase by more than 100% and during station assembly the mass may vary even more dra... View full abstract»

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  • Uncertainty in Sampled Systems

    Publication Year: 1985, Page(s):95 - 97
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (149 KB)

    The recently obtained evidence of the need for a positive real element in an adaptive system leaves us with a disturbing gap in adaptive control theory. It is a fact that in some applications adaptive controllers are performing well in practice. How can these systems behave well in practical situations which must contain modeling error? This paper introduces a preliminary result which indicates th... View full abstract»

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