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Date 2-4 June 1993

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Displaying Results 1 - 25 of 718
  • Proceedings of the 1993 American Control Conference

    Publication Year: 1993 , Page(s): 1
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    Freely Available from IEEE
  • Copyright page

    Publication Year: 1993 , Page(s): 2
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    Freely Available from IEEE
  • ACC'93 Operating Committee

    Publication Year: 1993 , Page(s): 3
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    Freely Available from IEEE
  • ACC'93 Program Committee

    Publication Year: 1993 , Page(s): 3
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    Freely Available from IEEE
  • Awards of the American Automatic Control Council 1993

    Publication Year: 1993 , Page(s): 4 - 7
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    Freely Available from IEEE
  • Proceedings table of contents

    Publication Year: 1993 , Page(s): i - xxxviii
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    Freely Available from IEEE
  • Foreword

    Publication Year: 1993 , Page(s): 1
    Save to Project icon | Request Permissions | PDF file iconPDF (114 KB)  
    Freely Available from IEEE
  • Attenuation of Structurally Generated Interior Noise Through Active Control

    Publication Year: 1993 , Page(s): 1 - 7
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (484 KB)  

    Active feedback control was used to modify the acoustic/structural dynamics in a reverberant acoustic enclosure. The physical system was modeled as a single-input, multi-output system and an H¿, design approach was used to obtain a robust controller. Experimentally obtained results exhibited a significant reduction in the dominant acoustic modes. Furthermore, the controller was seen to be effective in achieving noise reductions in the region of space surrounding the sensor, thus indicating that localization of the noise reduction was not a limiting factor in the design. View full abstract»

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  • Experiments on the loop shaping based H, control of a magnetic bearing

    Publication Year: 1993 , Page(s): 8 - 13
    Cited by:  Papers (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (450 KB)  

    This paper is concerned with H robust control design of a magnetic bearing. We design a control system using the 'Loop Shaping Design Procedure (LSDP)'. After the introduction of our experimental machine and digital controller, a mathematical model of the magnetic bearing is shown. Then, H controllers are designed based on the LSDP so as to reject the disturbances caused by un-balance on the rotor asymptotically. Finally, with experimental results, we show that the synchronous vibratory response of the rotor is greatly reduced. View full abstract»

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  • Active Feedback Controller Design for a Thin Airfoil

    Publication Year: 1993 , Page(s): 13 - 17
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (405 KB)  

    In this paper we study the problem of active feedback controller design for a thin airfoil, whose mathematical model is derived from classical Theodorsen's formulation. A finite dimensional controller stabilizing the original infinite dimensional model is obtained using H¿ control techniques. We also consider the gust alleviation problem, and show that it can be formulated as a disturbance attenuation problem in the mixed H2/H¿ control framework. We use existing results on H¿ and mixed H2/H¿ control to illustrate our approach with a numerical example. View full abstract»

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  • Servo Design for a Laser 3D Measurement System

    Publication Year: 1993 , Page(s): 18 - 22
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (385 KB)  

    The servo design of a laser 3-D measurement system is discussed in this paper. The laser 3-D measurement system uses two sets of tracking mirrors to reflect laser beams loward a retro reflector attached to the measurement object. The servo system checks the offset of the reflected beam and corrects the mirror orientations so that the laser lights will always follow the measurement point. By applying inverse kinematics to the mirro rotation angles, one can then calculate the position of the target point. The system is a highly nonlinear system. Usual servo design specifications do not apply. In this paper, we derived the relationship between the tracking angle rotations and the measured beam offsets. By including this relationship in our model the H¿ optimization technique can by applied for controller synthesis. All the design specifications are then directly implemented. Experiments are performed to verify the results. View full abstract»

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  • Stability of polynomial families with multiaffine coefficient perturbations

    Publication Year: 1993 , Page(s): 23 - 24
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (197 KB)  

    First Page of the Article
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  • Comparison of the Whole Benifits in a MIMO Control System with Large Parameter Variations

    Publication Year: 1993 , Page(s): 25 - 26
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (154 KB)  

    The quantitative feedback technique (QFT) is successful in synthesis of control system with large parameter variations. Several QFT design methods are developed with different advantages. In this paper, the whole benifits of QFT which is according to both the design cost (the complexity of designing procedure) and the bandwidth cost (how much overdesign in bandwidth causing the noise amplification) are discussed. For a MISO (multiple-input single output) single loop system, the ICQFT (improved conventional QFT) possesses best bandwidth cost, but its design cost is too high. On the other hand, the EDA (equivalent disturbance attenuation) method can simplify the design complexity, but the resulted bandwidth is too conservative. For a MIMO (multiple-inut multiple-output) system, a n × n system can be decomposed to n2 MISO system with n different loops, by using the Schauder's fixed point theory. Each single loop can be designing by a suitable method, so a combination of various methods to n loops may be a wiser choice. The whole benifits concept can, in this paper, not only evaluate the design result, but also provide the designer a good judgement of choosing QFT method. View full abstract»

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  • Robust Stability Analysis for Perturbed Large-Scale Discrete Systems

    Publication Year: 1993 , Page(s): 27 - 28
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (132 KB)  

    The sufficient stability criterion for perturbed large-scale discrete systems is presented. The explicit bound on linear perturbations with highly structured information is obtained. An example is given to illustrate the application of the presented result. View full abstract»

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  • Uncertainties With Bounded Rates of Variation

    Publication Year: 1993 , Page(s): 29 - 30
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (141 KB)  

    This paper treats stability robustness for linear systems with uncertain time-varying parameters, exploiting "bandwidth constraints" on the parameters. View full abstract»

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  • Learning to Coordinate Control Policies of Hybrid Systems

    Publication Year: 1993 , Page(s): 31 - 35
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (465 KB)  

    Hybrid control systems consist of a discrete event system (DES) supervising the behaviour of a continuous state system (CSS) through the issuance of logical control directives. This paper derives sufficient conditions on the DES/CSS interface which guarantee the existence of a supervisor which transitions the plant through an arbitrary sequence of commanded events. It is further demonstrated that this interface can be learned using an inductive inference protocol which converges after a finite number of updates. View full abstract»

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  • Robustness and Convergence of P-type Learning Control

    Publication Year: 1993 , Page(s): 36 - 38
    Cited by:  Papers (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (318 KB)  

    The robustness and convergence of P-type learning control algorithms for a class of time-varying, nonlinear systems to state disturbances, measurement noise at the output, and reinitialization errors at each iteration is studied extensively. We present the uniform boundedness of the system states with respect to the existence of errors of initialization, measurement noises and fluctuations of system dynamics. Furthermore, the system output converges uniformly to the desired one whenever all disturbances tend to zero. Moreover, implication of our results to robot manipulator, and linear systems are presented. View full abstract»

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  • Intelligent Control via Learning Methods

    Publication Year: 1993 , Page(s): 39 - 40
    Cited by:  Patents (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (246 KB)  

    First Page of the Article
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  • On-line Learning of Linear Systems

    Publication Year: 1993 , Page(s): 41 - 42
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (179 KB)  

    We consider the problem of learning/identification of a linear system by sampling its frequency response. A cumulative prediction error type criterion is used to describe the learnability of classes of (continuous- or discrete-time) linear systems with may have discontinuous frequency responses but of bounded variation. Upper and lower bounds are obtained for three input frequency sampling schemes: worst-case, random, and worst-case with small noise on the input frequency. Bounds are also obtained for the random sampling scheme with l1 noise or i.i.d. noise corrupting the frequency response samples. View full abstract»

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  • An Optimal Mid-Course Guidance Law For Fixed-Interval Propulsive Maneuvers

    Publication Year: 1993 , Page(s): 43 - 45
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (287 KB)  

    In this paper we develop an optimal mid-course strategy for guiding an interceptor. We assume that the target is outside of the sensible atmosphere and is not maneuvering throughout the engagement, and the thrust vector controlled interceptor has a fixed maneuvering time which ends well before the actual intercept. We will later extend the optimal solution to a family of guidance laws that guarantee perfect intercept for the fixed-interval maneuvering problems. View full abstract»

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  • On Attitude Stabilization of Symmetric Spacecraft with Two Control Torques

    Publication Year: 1993 , Page(s): 46 - 50
    Cited by:  Papers (5)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (492 KB)  

    It is a well-known fact in the literature of spacecraft stabilization, that a symmetric spacecraft with two control torques supplied by gas jet actuators is not controllable, if the two control torques are along axes that span the two-dimensional plane which is orthogonal to the axis of symmetry. However, feedback control laws can be derived for a restricted problem corresponding to attitude stabilization about the symmetry axis. The final orientation angle about this axis is undetermined. The purpose of this paper is to present a new methodology for constructing feedback control laws for this restricted problem, based on a new formulation for the kinematics. View full abstract»

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  • Vertical Guidance in Turbulence using Optimal Dynamic Interpolation With Application to a Lockheed L1011-100

    Publication Year: 1993 , Page(s): 51 - 55
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (404 KB)  

    The motivation for the work is aircraft guidance in a time controlled air traffic management system (ATM). This paper discusses two forms of optimal dynamic interpolation guidance (ODIG) and the effects of turbulence on its performance. The first form of ODIG is based on a cost functional that penalizes acceleration. The second form of ODIG penalizes both acceleration and velocaty excursion. Both have been applied to the L1011-100 vertical guidance problem in the presence of turbulence (the Dryden turbulence model was used). A flight management system's (FMS) vertical flight plan is used to obtain waypoints which serve as inputs to the ODIG algorithm. The algorithm produces reference commands which are issued to a certified FAA L1011-100 model and an autopilot. The resulting dynamic behavior is compared to the results obtained from reference commands produced by an L1011-like commercial aircaft's flight management system model (FMSM) under the same turbulence. View full abstract»

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  • CMG Singularity Avoidance in Attitude Control of a Flexible Spacecraft

    Publication Year: 1993 , Page(s): 56 - 58
    Cited by:  Patents (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (252 KB)  

    This paper deals with spacecraft attitude control using an array of 4, single-axis CMGs. This paper investigates a singularity cost function involving a p norm (p = 20 has been shown to be effective). This approach highly weights the CMG closest to singularity, while avoiding the problems encountered with infinity norms and the resulting chatter that occurs when several CMGs have close to equal proximity to a singularity. Cost function sensitivities are calculated analytically to improve performance. Performance is evaluated using a realistic, flexible-body simulation of the ASTREX, space-based mirror. View full abstract»

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  • A Suboptimal Robot Path Planning Scheme for Loosely Constrained Trajectories

    Publication Year: 1993 , Page(s): 59 - 63
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (468 KB)  

    Approximation of a desired robot path can be accomplished by interpolating a curve through a sequence of joint-space knots. A smooth interpolated trajectory can be realised by using trigonometric splines (TSs). But sometimes the joint trajectory is not required to exactly pass through the given knots. The knots may rather be centers of tolerances near which the trajectory is required to pass. In this paper, we optimise TSs through a given set of knots subject to user-specified knot tolerances. The contribution of this paper is the straightforward way in which intermediate constraints (i.e. knot angles) are incorporated into the parameter optimization problem. Another contribution is the exploitation of the decoupled nature of TSs to reduce the computational expense of the problem. The additional freedom of varying the knot angles results in a lower objective function and a higher computational expense, compared to the case where the knot angles are constrained to exact values. The specific objective functions considered are minimum jerk and minimum energy. In the minimum jerk case, the optimization problem reduces to a quadratic programming problem. Simulation results for a two-link manipulator are presented to support the results of this paper. View full abstract»

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  • Path-Tracking for a Carlike Mobile Robot

    Publication Year: 1993 , Page(s): 64 - 68
    Cited by:  Papers (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (300 KB)  

    Path tracking for a carlike mobile robot is considered by assuming a motion that is planar and exempt from sideslippage, by taking into account both the dynamic and the kinematic properties of the vehicle, and by adopting a modified notion of path tracking. It is shown that a controller capable of tracking an assigned path may be computed by means of a memoryless function of the lateral, heading, and velocity tracking-offsets. If these offsets are kept small, the path is a straight line or a circular arc and the assigned tracking velocity is constant, then the controller may be given a simple, linear, time invariant and decoupled PID structure. View full abstract»

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