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Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

Date 10-13 Dec. 2002

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  • Proceedings of the 41st IEEE Conference on Decision and Control [front matter]

    Publication Year: 2002 , Page(s): i - lxiv
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  • Index of authors, chairpersons, and organizers

    Publication Year: 2002 , Page(s): lxv - lxxxvi
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    Presents an index of the authors whose papers are published in the conference. View full abstract»

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  • On sensorless control of a class of electrical machines

    Publication Year: 2002 , Page(s): 4312 - 4317 vol.4
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    The problem of sensorless (local) speed regulation of a class of electrical machines is addressed and solved using a simple linear-time varying controller. The class, which contains permanent magnet synchronous and stepper motors, consists of all fully actuated machines whose magneto motive force can be approximated by a first harmonic Fourier expansion. The controller-which contains the internal model of the steady-state solution-is able to asymptotically reconstruct the control signal necessary to achieve speed regulation, even in the presence of unknown but constant load torque. To prove global stability and boundedness of the unforced system we exploit the by now well-known passivity property of electro-mechanical systems. We work out in detail the problem of speed regulation for a permanent magnet synchronous motor, for which normalized simulations that illustrate the properties of the design are provided. View full abstract»

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  • Control design for linear systems with saturating actuators and ℒ2-bounded disturbances

    Publication Year: 2002 , Page(s): 4148 - 4153 vol.4
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (431 KB) |  | HTML iconHTML  

    This paper addresses the problem of synthesis of state feedback control laws for systems subject to L2-bounded disturbances in presence of saturating actuators. Conditions that allow to guarantee both the internal and external stability of the closed-loop system are proposed. They are formulated from the use of the Finsler's lemma and a generalized sector non-linearity description. This approach allows to introduce new variables (multipliers) in the problem which increase the degrees of freedom in the synthesis problem. Based on the stability conditions, a multiobjective problem is addressed: the synthesis of a state feedback gain that simultaneously maximizes the magnitude of the admissible L2-disturbance and the size of the domain of stability of the closed-loop system. View full abstract»

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  • Unstable interior points in attainable sets: cracks

    Publication Year: 2002 , Page(s): 4339 - 4344 vol.4
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    Let X be a subset of a linear space. We refer to a continuous function g: X→Rn as an open covering of y0εRn, respectively of A⊂Rn, if g(X) contains a neighborhood of y0, respectively of A. The main subject of the paper deals with the sufficient conditions for the instability of a function g as an open covering. Let X be a metric space, Y a normed vector space, g: X→Y continuous, and C⊂g(X). We refer to C as a crack of g if, for every continuous function ω: X→[0, 1] that is positive on g-1(C), there exists a continuous perturbation e: X→Y such that |e(x)|≤ω(x) for all xεX and (g+e)(X)∪C=O. Thus the presence of a crack in the interior of g(X) reveals the instability of g as an open covering. Subject to certain "qualitative" assumptions, we derive conditions equivalent, to the statement that C is a crack of g. Each of the first two conditions, which deal with the case that C is an oriented C1 manifold without boundary of dimension n-1, is essentially equivalent to the statement that every topological component Γ of g-1(C) has a neighborhood ΣΓ that is mapped by g into one side of C only. The third condition deals with the case that C is a set whose components are C1 manifolds without boundary in Rn of codimensions 2 or higher. We also provide examples to illustrate the applications of some of the results. View full abstract»

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  • The performance comparison of optimally weighted LS and linear minimum variance estimation of linear model with random input

    Publication Year: 2002 , Page(s): 4258 - 4263 vol.4
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (368 KB) |  | HTML iconHTML  

    The performance comparison of the optimally weighted LS estimate and the linear minimum variance estimate for a linear model with random input is presented. In this case optimally weighted LS estimate is not a linear estimate of a parameter given input and observation anymore while linear minimum variance estimate still is. Under a certain conditions on variance matrix invertibility, we show that the optimally weighted LS estimate outperforms the linear minimum variance estimates provided that they have the same a priori information on the parameter being estimated. View full abstract»

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  • Nonlinear maneuvering with gradient optimization

    Publication Year: 2002 , Page(s): 3926 - 3931 vol.4
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (469 KB) |  | HTML iconHTML  

    The maneuvering problem involves two tasks. The first one, called the geometric task, is to force the system states to converge to a desired parametrized path. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. The desired geometric path ξ is viewed as a target set Ξ which is parametrized by a scalar variable θ. The proposed dynamic controller consists of a stabilization algorithm that drives the state x(t) to the point ξ(θ(t)), and a smooth dynamic optimization algorithm that selects the point ξ(θ) in the set Ξ that minimizes the weighted distance between x and ξ. Choosing a gain μ large in the optimization algorithm, induces a two-time scale behavior or a closed-loop plant. In the fast time-scale θ(t) rapidly converges to the minimizer, and in the slow time-scale x(t) converges to Ξ. Two motivational examples illustrate the design and the achieved performance of the closed-loop. View full abstract»

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  • Local reliable control for linear systems with saturating actuators

    Publication Year: 2002 , Page(s): 4154 - 4159 vol.4
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    This paper considers the problem of local reliable control for continuous-time linear systems with saturating actuators and disturbance. The local stability and the performance of the designed closed-loop system is guaranteed not only when all the control components are operational, but also in the case of actuator outages in the preselected subset of actuators. The linear matrix inequality (LMI) method and iterative LMI method are proposed to design state-feedback controllers. The effectiveness of our methods is shown by an example. View full abstract»

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  • On convergence of a BCLS algorithm for noisy autoregressive process estimation

    Publication Year: 2002 , Page(s): 4252 - 4257 vol.4
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    The identification of AR processes whose measurement are corrupted by additive noise is considered. A bias compensated least squares (BCLS) algorithm is derived on the framework of solving nonlinear bias compensation equation (BCE). The framework is convenience for investigating the convergence property of the algorithm. Convergence analysis of the proposed algorithm is performed from the numerical analysis viewpoint. The algorithm is to find a fixed point of the BCE. By examination of the BCE and their Jacobian, a theoretical result is obtained to make clear that the relationship of convergence and the parameters of the AR process as well as the ratio of noise to signal. Based on the results of convergence analysis, it can be expected that more effective estimation algorithms are developed. View full abstract»

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  • On iterative feedback tuning for non-minimum phase plants

    Publication Year: 2002 , Page(s): 4658 - 4663 vol.4
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (406 KB) |  | HTML iconHTML  

    The iterative feedback tuning (IFT) is a data-based method for the tuning of restricted-complexity controllers. In the classical formulation, the IFT aims at minimizing a certain model-reference criterion in which the reference-model is chosen by the user. This minimization is based on signal information only. In this paper we formulate a new criterion for the IFT method. In the new criterion, some freedom is given to the reference-model in order to let it reproduce the features of the unknown plant (i.e. the delay and non-minimum phase zeros) which the controller should not attempt to change. It is shown that using the new criterion corresponds to giving more emphasis to the placement of the closed loop poles. View full abstract»

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  • Modeling and control for foreign exchange based on a continuous time stochastic microstructure model

    Publication Year: 2002 , Page(s): 4440 - 4445 vol.4
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    On the basis of the market microstructure theory, a continuous time microstructure model is proposed for describing the dynamics of the foreign currency exchange time series with randomness and volatility features. From the microstructure model one may obtain the estimates of two state variables, which represent the market excess demand and liquidity respectively, but can not be directly observed. Based on the indirectly obtained excess demand information instead of the prediction of price, an asset dynamic allocation approach is investigated. The local linearization method, nonlinear Kalman filter and maximum likelihood method based estimation approach for the microstructure model proposed are also presented. A case study on the Japanese Yen/US Dollar exchange rate time series modeling and the estimated model-based asset dynamic allocation control show satisfactory modeling precision and control performance. View full abstract»

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  • Direct adaptive regulation of discrete time nonlinear systems with arbitrary nonlinearities by backstepping

    Publication Year: 2002 , Page(s): 4288 - 4293 vol.4
    Cited by:  Papers (6)
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    This paper presents a direct adaptive regulation result for a class of strict feedback discrete time nonlinear systems with arbitrary nonlinearities. This results is an extension of the current state of the art in discrete time adaptive backstepping, where until now results are restricted to the case where the plant's nonlinearities can be expressed as a linear combination of known functions and restrictive linear growth conditions are imposed. Here, a more general approach is followed by using function approximation and online update of the approximators. The regulation theorem guarantees convergence of the state norm to a neighborhood of the origin, and the size of the neighborhood depends exclusively on the chosen approximator structure and ideal approximation errors. The stability is semi-global, and no high-gain bounding terms are required, since explicit bounds for the state are found from the stability analysis. The proposed method is a direct adaptive scheme where a stabilizing control law, rather than the plant nonlinearities, is directly approximated. An example is provided to illustrate the method. View full abstract»

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  • An almost global notion of input-to-state stability

    Publication Year: 2002 , Page(s): 4264 - 4269 vol.4
    Cited by:  Papers (1)
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    A new definition of almost global input-to-state stability for systems on differentiable manifolds is discussed. Some of its properties are investigated and specific examples are shown which can be treated by means of dual Lyapunov techniques. View full abstract»

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  • Warga's abundant sets and their role in optimal control problems

    Publication Year: 2002 , Page(s): 4744 - 4747 vol.4
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    Warga's concept of an abundant set and the related controllability-extremality alternative theorem provides a powerful framework for deriving necessary optimality conditions for various optimal control problems. This method enables us to focus on the essential issue of proving the set of original controls is abundant in an appropriately constructed relaxed control set. This abundant property is usually a strengthened version of the Filippov-Wazewski relaxation theorem. It has been applied to many optimal control problems and is a method with great potential. View full abstract»

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  • Asymmetric limit cycles and transfer properties of relay servo systems with integrating plants

    Publication Year: 2002 , Page(s): 3932 - 3936 vol.4
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (362 KB) |  | HTML iconHTML  

    Asymmetric limit cycles in relay servo systems with integrating plants are studied in the paper. A periodic solution is found, and a condition of local asymptotic stability of the periodic solution is also derived. A matrix state space description based formula and a transfer function based formula of the locus of a perturbed relay system for integrating plants are derived. An example of the analysis of transfer properties of a relay system is given. View full abstract»

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  • Real-time trajectory generation for the cooperative path planning of multi-vehicle systems

    Publication Year: 2002 , Page(s): 3766 - 3769 vol.4
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (341 KB) |  | HTML iconHTML  

    This paper discusses a cooperative path planning (CPP) design methodology for multi-vehicle systems and a nonlinear trajectory generation (NTG) algorithm. Three scenarios of multi-vehicle tasking are proposed at the CPP framework. The NTG algorithm is then used to generate a real time trajectory for desired vehicle activities. Given system dynamics and constraints, the NTG algorithm first finds trajectory curves in a lower dimensional space and then parameterizes the curves by the B-spline basis. The coefficients of the B-splines are further solved by the sequential quadratic programming to satisfy the optimization objectives and constraints. The NTG algorithm has been implemented to generate real-time trajectories for a group of cooperative vehicles in the presence of changing missions and constraints. View full abstract»

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  • Direct relationships of performance, robustness measures and amplitude constraint

    Publication Year: 2002 , Page(s): 4160 - 4161 vol.4
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (221 KB) |  | HTML iconHTML  

    The paper presents an approach of how to compute direct relationships between performance, robustness measures and amplitude constraint of the regulator output for two degree of freedom time delay control systems. The relationships can be calculated only numerically and represented by graphical plots. View full abstract»

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  • Global stabilization of a PVTOL aircraft with bounded thrust

    Publication Year: 2002 , Page(s): 4462 - 4467 vol.4
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (375 KB) |  | HTML iconHTML  

    A global stabilizing control design is proposed for the planar vertical takeoff and landing (PVTOL) aircraft. The methodology is based on the use of nonlinear combinations of saturation functions bounding the thrust input to arbitrary saturation limits. The algorithm is simple and provides global convergence of the state to the origin. View full abstract»

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  • On necessary conditions for almost global stability

    Publication Year: 2002 , Page(s): 4270 - 4271 vol.4
    Cited by:  Papers (1)
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    Some potential applications of the density functions to analysis and synthesis of nonlinear control systems have been studied by Rantzer and Parrilo (2000) and Rantzer and Ceragioli (2001). In this work we prove the necessity of the existence of a density function for a globally asymptotically stable dynamical system. View full abstract»

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  • Non-Lipschitz continuous adaptive regulation of nonlinear systems with uncontrollable unstable linearization

    Publication Year: 2002 , Page(s): 3825 - 3830 vol.4
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    Adaptive regulation problem is solved for a class of nonlinear systems whose Jacobian linearization may have uncontrollable modes with eigenvalues lying on the right half-plane. By proposing a continuous version of the LaSalle-Yoshizawa theorem and using the technique of adding a power integrator, we developed a constructive design tool that solves the adaptive regulation problem under continuous framework. We designed a C0 adaptive control input, an update law for unknown parameters, and a C1 control Lyapunov function which is positive definite and proper. A physical example is provided to illustrate the proposed adaptive control schemes. View full abstract»

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  • F-16 nonlinear H control

    Publication Year: 2002 , Page(s): 4480 - 4485 vol.4
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    This paper investigates the implementation of nonlinear H control theory for F-16 flight control system. The complete six degree-of-freedom nonlinear equations of motion for F-16 are considered directly for the design of the nonlinear H flight controller by treating the longitudinal and lateral motions as a whole. The associated Hamilton-Jacobi partial differential inequality is solved analytically, resulting in a nonlinear H controller with simple proportional feedback structure. Real aerodynamic data and engine data of F-16 are employed to determine the angles of control surface deflection from the nonlinear H control command. Feasibility of tracking nonlinear H control command by using F-16 actuator system is discussed in detail and the guaranteed stability and robustness or nonlinear H flight control system implemented by F-16 actuators are confirmed over large flight envelope in a six degree-of-freedom flight simulator. View full abstract»

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  • Failure diagnosis of discrete event systems: the case of intermittent faults

    Publication Year: 2002 , Page(s): 4006 - 4011 vol.4
    Cited by:  Papers (5)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (459 KB) |  | HTML iconHTML  

    The diagnosis of "intermittent" faults in dynamic systems modeled as discrete event systems is considered. In many systems, faulty behavior often occurs intermittently, with fault events followed by corresponding "reset" events for these faults, followed by new occurrences of fault events, and so forth. Since these events are usually unobservable, it is necessary to develop diagnostic methodologies for intermittent faults. This paper addresses this issue by: (1) proposing a modeling methodology for discrete event systems with intermittent faults; (2) introducing new notions of diagnosability associated with fault and reset events; and (3) developing necessary and sufficient conditions, in terms of the system model and the set of observable events, for these notions of diagnosability. The associated necessary and sufficient conditions are based upon the technique of "diagnosis" introduced in earlier work, albeit the structure of the diagnosis needs to be enhanced to capture the dynamic nature of faults in the system model. The diagnosability conditions are verifiable in polynomial time in the number of states of the diagnosis. View full abstract»

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  • State aggregation in Markov decision processes

    Publication Year: 2002 , Page(s): 3819 - 3824 vol.4
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (454 KB) |  | HTML iconHTML  

    We study state aggregation for Markov decision processes (MDPs) with long-run average-cost optimality criterion in this paper. The aggregation is based on a definition of an (εp, εf)-lumpable partition of the state space, where the difference between the control effect of any control action on any two states belonging to the same subset in the partition is bounded by εp for the state-transition effect and εf for the cost effect. The states in the same partition subset are treated into one meta-state to obtain an aggregated Markov chain. We then construct an aggregated MDP with average cost on the aggregated Markov chain. We develop an algorithm to find the solution to this aggregated MDP problem and show its performance is within some o(εp, εf) neighborhood of the optimal solution to the original MDP problem. In real applications, the (εp, εf)-lumpable partition is usually obtained empirically. However, we also study the problem of looking for the coarsest (εp, εf)-lumpable partition, i.e., the partition with minimum number of subsets, given εp and εf. We prove that this partitioning problem is in the time complexity class of P-hard, which is not easier than the original MDP problem in the class of P-complete. View full abstract»

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  • Structured and reduced dimension explicit linear quadratic regulators for systems with constraints

    Publication Year: 2002 , Page(s): 3970 - 3975 vol.4
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (454 KB) |  | HTML iconHTML  

    It is studied how system structure can be utilized to derive reduced dimension multi-parametric quadratic programs that lead to sub-optimal explicit piecewise linear feedback solutions to the state and input constrained LQR problem. This results in a controller of lower complexity and associated computational advantages in the online implementation. At heart of the methods are state space projections using the singular value decomposition. View full abstract»

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  • Fault detection and isolation for uncertain systems

    Publication Year: 2002 , Page(s): 4748 - 4753 vol.4
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    The goal of this paper is to extend the fault detection procedure for MIMO system in order to isolate an anomaly once its presence detected, while insisting on the difficulties encountered within the framework of the set-membership approach. The proposed method is presented initially to deal with the case where only one fault may affect the system at a given moment then it is extended to the case of several faults while respecting a certain assumption. A fault can be either a parameter deviation (appearing in a multiplicative way in the model), or a bias affecting one of system outputs (appearing in an additive way). In both cases, a procedure of fault isolation is proposed in order to properly identify the failing component. View full abstract»

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