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Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)

7-10 Dec. 1999

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  • Proceedings of the 38th IEEE conference on decision and control

    Publication Year: 1999, Page(s):0_1 - xiii
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    Freely Available from IEEE
  • Index of Authors, Chairpersons, and Organizers

    Publication Year: 1999, Page(s):lxxiii - xccii
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1570 KB)

    Presents an index of the authors whose papers are published in the conference. View full abstract»

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  • Optimal stochastic multiple-fault detection filter

    Publication Year: 1999, Page(s):4965 - 4970 vol.5
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    A class of robust fault detection filters is generalized from detecting single fault to multiple faults. This generalization is called the optimal stochastic multiple-fault detection filter since in the formulation, the unknown fault amplitudes are modeled as white noise. The residual space of the filter is divided into several subspaces and each subspace is sensitive to only one fault (target fau... View full abstract»

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  • Stochastic models for short-term multipath fading channels: chi-square and Ornstein-Uhlenbeck processes

    Publication Year: 1999, Page(s):4959 - 4964 vol.5
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    This paper discusses the use of stochastic differential equations to model signal envelope variations over areas, which are subject to short-term fading effects. The short-term fading effects are modeled using Ornstein-Uhlenbeck processes and they are derived from first principles, using the scattering assumption of electromagnetic waves. This gives rise to signal envelope variations which follow ... View full abstract»

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  • Decentralized parallel distributed compensator design for Takagi-Sugeno fuzzy systems

    Publication Year: 1999, Page(s):4834 - 4839 vol.5
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    This paper discusses decentralized parallel distributed compensator design for discrete-time Takagi-Sugeno fuzzy systems by means of overlapping decompositions. The fuzzy system is viewed as an interconnection of subsystems, some of which are strongly connected, while others being weakly connected. The necessary theory is developed so that one can associate this fuzzy system with another one in a ... View full abstract»

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  • Takagi-Sugeno fuzzy fault-tolerant control for a non-linear system

    Publication Year: 1999, Page(s):4368 - 4373 vol.5
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    This paper describes the application of a new fault-tolerant control scheme for nonlinear systems. The approach presented takes into account the stability and design of nonlinear fuzzy inference systems based on Takagi-Sugeno (T-S) fuzzy models. The paper derives the necessary conditions for the assignability of eigenvalues to a region in the s-plane and the necessary conditions to guarantee the s... View full abstract»

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  • Global exponential tracking control of a mobile robot system via a PE condition

    Publication Year: 1999, Page(s):4822 - 4827 vol.5
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB)

    This paper presents the design of a differentiable, kinematic control law that utilizes a damped dynamic oscillator with a tunable frequency of oscillation to achieve global asymptotic tracking. Provided the reference trajectory satisfies a mild persistency of excitation condition, we also illustrate how the proposed kinematic controller can be slightly modified to provide global exponential track... View full abstract»

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  • Passivity and fuzzy control of singularly perturbed systems

    Publication Year: 1999, Page(s):4364 - 4367 vol.5
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (308 KB)

    It is shown that the passivity of a singularly perturbed system is equivalent to the passivity of both the boundary layer system and the reduced (slow) system. This result is used to formulate a stability condition in terms of LMIs for a nonlinear singularly perturbed system controlled by a Takagi-Sugeno fuzzy controller View full abstract»

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  • An estimation based robust tracking controller design for uncertain nonlinear systems

    Publication Year: 1999, Page(s):4816 - 4821 vol.5
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    We study the use of the equivalent control based disturbance estimation idea in robust control design problems. For matched disturbances, the estimated parts can directly be eliminated by a cancellation term in the control so that the system only needs to be robustified against residual estimation errors. For mismatched disturbances, the design method is presented on a tracking problem of a nonlin... View full abstract»

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  • Takagi-Sugeno fuzzy modeling and control: unmodeled dynamics and robustness

    Publication Year: 1999, Page(s):4361 - 4363 vol.5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (124 KB)

    The Takagi-Sugeno (TS) fuzzy modeling approach has been very successful in approximating complex dynamics and hence has offered a basis for analysis and design in many control applications where conventional modeling is impossible. At present, a drawback of the TS fuzzy model is the high dimension of its information space, which, in turn, necessitates a large number of local linear models to cover... View full abstract»

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  • Vibration reduction by predictive evolutionary trajectory shaping

    Publication Year: 1999, Page(s):5289 - 5291 vol.5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (264 KB)

    A method for reducing the tracking error due to motion induced vibrations for flexible robots is presented. In order to improve the performances of a feedback controller, the shaping of the reference trajectory is carried out by means of a predictive control scheme, where the online optimization is executed by an evolutionary algorithm. The addition of the feedback estimation error improves the re... View full abstract»

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  • Exact filters for Newton-Raphson parameter estimation algorithms for continuous-time partially observed stochastic systems

    Publication Year: 1999, Page(s):4543 - 4548 vol.5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    This paper presents explicit finite-dimensional filters for implementing Newton-Raphson (NR) parameter estimation algorithms. The models which exhibit nonlinear parameter dependence are stochastic, continuous-time and partially observed. The implementation of the NR algorithm requires evaluation of the log-likelihood gradient and the Fisher information matrix. Fisher information matrices are impor... View full abstract»

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  • Optimal tracking control of nonlinear dynamic systems with control bounds

    Publication Year: 1999, Page(s):4810 - 4815 vol.5
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    Using the Hamilton-Jacobi theory, we solve the constrained optimization problem for nonlinear multivariable continuous-time systems. It is illustrated that through the use of positive-definite performance integrands, the designer can analytically synthesize the constrained control laws within the admissible control set. We extend the class of dynamic systems for which the constrained optimization ... View full abstract»

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  • Optimal control of piecewise deterministic nonlinear systems with controlled transitions: viscosity solutions, their existence and uniqueness

    Publication Year: 1999, Page(s):4712 - 4717 vol.5
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    The paper studies viscosity solutions of two sets of Hamilton-Jacob-Bellman (HJB) equations (one for finite horizon and the other one for infinite horizon) which arise in the optimal control of nonlinear piecewise deterministic systems where the controls could be unbounded. The controls enter through the system dynamics as well as the transitions for the underlying Markov chain process, and have a... View full abstract»

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  • A robust stabilizing controller for a class of fuzzy systems

    Publication Year: 1999, Page(s):4355 - 4360 vol.5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    This paper discusses the construction of a robust stabilizing controller for a Takagi-Sugeno class of fuzzy systems. It should be clear at the outset that the fuzzy system is inherently uncertain due to the vagueness of the associated linguistic terms, even though crisp and useful results are obtained via inferencing and defuzzification. This vagueness uncertainty is the essential fuzziness of the... View full abstract»

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  • Incorporation of negative rules into fuzzy inference systems

    Publication Year: 1999, Page(s):5283 - 5288 vol.5
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    This paper considers the incorporation of negative examples into fuzzy inference systems (FIS). A new method of defuzzification called dot product attenuation is presented. This is a generalization of conventional defuzzification which has the ability to incorporate negative examples into the FIS's reasoning process. The method is illustrated with an inverted pendulum controller which has a negati... View full abstract»

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  • Matrix rational H2 approximation and Schur parameters

    Publication Year: 1999, Page(s):4537 - 4542 vol.5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    This paper deals with the rational approximation of specified order n to transfer functions which are assumed to be matrix valued functions in the Hardy space for the complement of the closed unit disk endowed with the L2-norm. An approach is developed leading to a new algorithm, the first one to our knowledge which concerns matrix transfer functions in L2-norm. This algorith... View full abstract»

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  • Incremental tracking in nonlinear systems

    Publication Year: 1999, Page(s):4808 - 4809 vol.5
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    For affine systems the state trajectory can only be made to approach integral curves of a very limited class of vector fields. We seek instead to identify vector fields whose integral curves can be approached arbitrarily closely at discrete times by the state trajectory. These results have applications to output tracking, sliding mode control, and feedback stabilization View full abstract»

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  • Position control of drives with friction

    Publication Year: 1999, Page(s):5263 - 5267 vol.5
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    High performance position control of drives with friction is required, amongst others, in machine-tool applications. In this paper, a configuration with a feedback controller and a feedforward compensation based on a friction model is proposed. Global stability of the feedback part is analyzed using a passivity-based approach. Theoretical results in terms of explicit bounds on controller gains are... View full abstract»

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  • Nonlinear impulsive dynamical systems. I. Stability and dissipativity

    Publication Year: 1999, Page(s):4404 - 4422 vol.5
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1696 KB)

    We develop Lyapunov and invariant set stability theorems for nonlinear impulsive dynamical systems. Furthermore, we generalize the dissipativity theory to nonlinear dynamical systems with impulsive effects. Specifically, the classical concepts of system storage functions and supply rates are extended to impulsive dynamical systems providing a generalized hybrid system energy interpretation in term... View full abstract»

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  • On the Sugeno-type fuzzy observers

    Publication Year: 1999, Page(s):4828 - 4833 vol.5
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (368 KB)

    In this paper, we present a fuzzy observer for nonlinear processes. It is obtained by “fuzzily interconnecting” local linear Luneburger observers. The approach uses techniques of robust and particularly quadratic stabilization to show the global quadratic stability of the fuzzy observer. In this approach we do not assume the linearity of the nonlinear process with respect to the inputs... View full abstract»

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  • The Euler-Lagrange equation under weak regularity conditions

    Publication Year: 1999, Page(s):4706 - 4711 vol.5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    This paper is a continuation of the author's previous work (1994, 1996, 1997, 1998) on a general nonsmooth version of the finite-dimensional Pontryagin maximum principle. The purpose here is to present a further extension of this result for the special case of finite-dimensional classical calculus of variations problems in Rn , with constraints ξ(t)∈U, where U is a given subset ... View full abstract»

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  • An integrated fuzzy control system design for nonlinear systems-fuzzy modeling and robust controller design via LMIs

    Publication Year: 1999, Page(s):4349 - 4354 vol.5
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    This paper presents an integrated LMI approach to fuzzy modeling and controller design for nonlinear systems with unknown parameters. The main feature is to achieve iteratively and effectively fuzzy modeling and controller design. Three LMI conditions to identify the parameters of a Takagi-Sugeno fuzzy model (T-S fuzzy model) are derived. More importantly, we design a robust controller that compen... View full abstract»

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  • Proposal of perfect tracking and perfect disturbance rejection control by multirate sampling and applications to hard disk drive control

    Publication Year: 1999, Page(s):5277 - 5282 vol.5
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    Multirate two-degree-of-freedom controllers are proposed for digital control systems, where there is a restriction that the speed of the A/D converters are slower than that of the D/A converters. The proposed feedforward controller assures the perfect tracking at M inter-sampling points. Moreover, the proposed feedback controller assures the perfect disturbance rejection at M inter-sample points i... View full abstract»

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  • Universal trajectory tracking control using fuzzy descriptor systems

    Publication Year: 1999, Page(s):4852 - 4857 vol.5
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    This paper presents universal trajectory tracking control for fuzzy descriptor systems. A new parallel distributed compensation, the twin parallel distributed compensations (TPDC), to realize the trajectory tracking control is proposed. The TPDC fuzzy controller mirrors the structures of the fuzzy descriptor systems that represent a nonlinear system and a nonlinear reference model. We present a de... View full abstract»

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