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IEEE Transactions on Automatic Control

Issue 8 • Aug. 2000

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Displaying Results 1 - 25 of 29
  • Comments on "Sliding-mode motion/force control of constrained robots

    Publication Year: 2000, Page(s):1576 - 1577
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (81 KB)

    In the above paper by Lian and Lin (ibid. vol.43(8) (1998)) the authors claim their control law ensures the motion and force errors are asymptotically driven to zero and that the actual forces will asymptotically approach the desired forces. However, the commenters point out that the authors' claim is invalid due to an error in the sliding-mode control stability analysis. Specific details of the e... View full abstract»

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  • Comments on "Robust tracking control for rigid robotic manipulators"

    Publication Year: 2000, Page(s):1577 - 1580
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (180 KB)

    The incorrectness of a main assumption in the above paper by Man and Palaniswami (ibid., vol.39(1) (1994)) was pointed out by Cai (ibid., vol.43(7) (1998)). The present author proposes a correction. View full abstract»

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  • The control handbook [Book Review]

    Publication Year: 2000, Page(s):1581 - 1583
    Cited by:  Papers (1)
    Request permission for commercial reuse | PDF file iconPDF (24 KB)
    Freely Available from IEEE
  • Nonlinear attitude and shape control of spacecraft with articulated appendages and reaction wheels

    Publication Year: 2000, Page(s):1455 - 1469
    Cited by:  Papers (25)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    Three-dimensional attitude and shape control problems are studied for a class of spacecraft with articulated appendages and reaction wheels. A number of special cases of such attitude control problems have been studied previously. We provide a unified formulation and a comprehensive set of results for planning of attitude and shape maneuvers of a spacecraft, assuming that joint actuators and react... View full abstract»

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  • Steering for a class of dynamic nonholonomic systems

    Publication Year: 2000, Page(s):1492 - 1498
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    We derive control algorithms for a class of dynamic nonholonomic steering problems, characterized as mechanical systems with nonholonomic constraints and symmetries. We use a simplified geometric framework in developing two types of control algorithms for such systems. The first targets local configuration controllability, using a perturbation approach to establish results similar to steering usin... View full abstract»

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  • An unstable plant with no poles

    Publication Year: 2000, Page(s):1575 - 1576
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (92 KB)

    An example is presented of a bounded-input/bounded-output unstable plant given by convolution with a causal locally integrable impulse response whose transfer function is everywhere analytic in the finite plane View full abstract»

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  • Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups

    Publication Year: 2000, Page(s):1437 - 1454
    Cited by:  Papers (113)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1044 KB)

    We provide controllability tests and motion control algorithms for underactuated mechanical control systems on Lie groups with Lagrangian equal to kinetic energy. Examples include satellite and underwater vehicle control systems with the number of control inputs less than the dimension of the configuration space. Local controllability properties of these systems are characterized, and two algebrai... View full abstract»

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  • Stabilization of relative equilibria

    Publication Year: 2000, Page(s):1483 - 1491
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    Discusses the problem of obtaining feedback laws to asymptotically stabilize relative equilibria of mechanical systems with symmetry. We show how to stabilize an internally unstable relative equilibrium using internal actuators. The methodology is that of potential shaping, but the system is allowed to be underactuated, i.e., have fewer actuators than the dimension of the shape space. The theory i... View full abstract»

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  • Optimal finite-precision state-estimate feedback controller realizations of discrete-time systems

    Publication Year: 2000, Page(s):1550 - 1554
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (232 KB)

    Investigates the stability issue of a discrete-time control system, where a state-estimate feedback controller (SEFC), digitally implemented with a fixed-point format, is used. A tractable closed-loop stability related measure is derived with finite-word-length implementation consideration of the controller. The optimal realizations of the SEFC are defined as those that maximize this measure and c... View full abstract»

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  • Analysis of H2 performance robustness with respect to disturbance model uncertainty

    Publication Year: 2000, Page(s):1541 - 1544
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (144 KB)

    A method for evaluating the H2 performance robustness of an LTI SISO feedback system with respect to parametric uncertainties in the disturbance model is developed. The disturbance is assumed to be colored noise obtained by passing standard white noise through a linear finite-dimensional filter with uncertain coefficients. The method is based on the converse of a spectral factorization ... View full abstract»

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  • Disturbance decoupled observer design for linear time-invariant systems: a matrix pencil approach

    Publication Year: 2000, Page(s):1569 - 1575
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (308 KB)

    We give a new analysis of the observer design problem for linear time-invariant systems with partly unknown inputs. We use a matrix pencil approach that is based on a condensed form under orthogonal transformations. The solvability conditions that we obtain can be verified and the desired observer can be constructed by a numerically stable method View full abstract»

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  • The optimal order of processing sensor information in sequential multisensor fusion algorithms

    Publication Year: 2000, Page(s):1532 - 1536
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (228 KB)

    We examine the order of sensor processing in the sequential multisensor probabilistic data association (MSPDA) filter for target tracking applications. If two sensors of different qualities are used in the sequential MSPDA filter, the r.m.s. position error is generally smaller when the worse sensor is processed first. This finding regarding the order of sensor processing is supported by simulation... View full abstract»

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  • A trace bound for a general square matrix product

    Publication Year: 2000, Page(s):1563 - 1569
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (124 KB)

    Estimates of bounds on the solutions of Lyapunov and Riccati equations are important for analysis and synthesis of linear systems. In this paper, we propose new trace bounds for the product of two general matrices. The key point for removing the restriction of symmetry is to replace eigenvalues partly by singular values in the equation of bounds. The results obtained are valid for both symmetric a... View full abstract»

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  • Gap metric on the subgraphs of systems and the robustness problem

    Publication Year: 2000, Page(s):1522 - 1526
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    The gap metric between the shift invariant subspaces of the graphs, or subgraphs, of systems is investigated. Under certain index conditions, it is shown that the gap metric on the subgraphs shares the same fundamental property of robust stability as those well known metrics such as the gap metric and the ν-gap metric. It is also shown that the ν-gap metric between two systems is the distanc... View full abstract»

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  • Simple mechanical control systems with constraints

    Publication Year: 2000, Page(s):1420 - 1436
    Cited by:  Papers (59)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (848 KB)

    We apply some recently developed control theoretic techniques to the analysis of a class of mechanical systems with constraints. Certain simple aspects of the theory of affine connections play an important part in our presentation. The necessary background is presented in order to illustrate how the methods may be applied. The bulk of this paper is devoted to a detailed analysis of some examples o... View full abstract»

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  • Noninteracting control with stability for Hamiltonian systems

    Publication Year: 2000, Page(s):1470 - 1482
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    The problem of noninteraction with stability via dynamic state feedback is addressed and solved for a class of nonlinear Hamiltonian systems. A simple way to check necessary and sufficient conditions is proposed. It is well known that to decide if the problem is solvable, and which class of state feedback has to be used, the stability properties of some special dynamics are to be investigated. For... View full abstract»

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  • Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation

    Publication Year: 2000, Page(s):1498 - 1502
    Cited by:  Papers (143)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (184 KB)

    In this paper, we propose a constructive procedure to modify the Hamiltonian function of forced Hamiltonian systems with dissipation in order to generate Lyapunov functions for nonzero equilibria. A key step in the procedure, which is motivated from energy-balance considerations standard in network modeling of physical systems, is to embed the system into a larger Hamiltonian system for which a se... View full abstract»

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  • Practical stability and stabilization

    Publication Year: 2000, Page(s):1554 - 1558
    Cited by:  Papers (45)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (180 KB)

    Presents a practical stability result for dynamical systems depending on a small parameter. This result is applied to a practical stability analysis of fast time-varying systems studied in averaging theory, and of highly oscillatory systems studied by Sussmann and Liu (1999). Furthermore, the problem of practically stabilizing control affine systems with drift is discussed View full abstract»

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  • Efficient robust predictive control

    Publication Year: 2000, Page(s):1545 - 1549
    Cited by:  Papers (243)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (200 KB)

    Predictive constrained control of time-varying and/or uncertain linear systems has been effected through the use of ellipsoidal invariant sets (Kothare et al., 1996). Linear matrix inequalities (LMIs) have been used to design a state-dependent state-feedback law that maintains the state vector inside invariant feasible sets. For the purposes of prediction however, at each time instant, the state f... View full abstract»

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  • Design of state observers from a drift-observability property

    Publication Year: 2000, Page(s):1536 - 1540
    Cited by:  Papers (36)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (244 KB)

    In this paper, the problem of state observation with exponential error decay for nonlinear systems affine in the input is considered and an observer is proposed. For such an observer, the drift-observability property of the system (i.e., observability for zero input), together with an assumption on the input amplitude or on the observation relative degree, are sufficient conditions for exponential... View full abstract»

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  • Constructing convex directions for stable polynomials

    Publication Year: 2000, Page(s):1565 - 1569
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (244 KB)

    New constructions of convex directions for Hurwitz stable polynomials are obtained. The technique is based on interpretations of the phase-derivative conditions in terms of the sensitivity of the root-locus associated with the even and odd parts of a polynomial View full abstract»

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  • Some remarks on “System analysis via integral quadratic constraints”

    Publication Year: 2000, Page(s):1527 - 1532
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    The author analyses results obtained by Megretski and Rantzer (ibid., vol.42, p.819-30, 1997) on the stability analysis of nonlinear systems. He establishes the connections and relations between their results and the abstract quadratic criterion developed by Yakubovich (Automation Remote Control, p.5-30, 1967) View full abstract»

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  • Identification of nonlinear systems in the presence of unknown but bounded disturbances

    Publication Year: 2000, Page(s):1503 - 1507
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (180 KB)

    This paper deals with recursive parameter estimation of nonlinear systems in the presence of unknown but bounded disturbances. The proposed technique is performed by the use of a modified extended least squares algorithm so that the estimated parameters are consistent with the measurements and the noise constraints while local asymptotic convergence, under very general conditions, is assured. One ... View full abstract»

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  • On cone-invariant linear matrix inequalities

    Publication Year: 2000, Page(s):1558 - 1563
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (212 KB)

    An exact solution for a special class of cone-preserving linear matrix inequalities (LMIs) is developed. By using a generalized version of the classical Perron-Frobenius theorem, the optimal value is shown to be equal to the spectral radius of an associated linear operator. This allows for a much more efficient computation of the optimal solution using, for instance, power iteration-type algorithm... View full abstract»

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  • A new approach to stability analysis for constrained finite receding horizon control without end constraints

    Publication Year: 2000, Page(s):1507 - 1512
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (196 KB)

    We present a new approach to the stability analysis of finite receding horizon control applied to constrained linear systems. By relating the final predicted state to the current state through a bound on the terminal cost, it is shown that knowledge of upper and lower bounds for the finite horizon costs is sufficient to determine the stability of a receding horizon controller. This analysis is val... View full abstract»

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Aims & Scope

In the IEEE Transactions on Automatic Control, the IEEE Control Systems Society publishes high-quality papers on the theory, design, and applications of control engineering.  Two types of contributions are regularly considered

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Meet Our Editors

Editor-in-Chief
P. J. Antsaklis
Dept. Electrical Engineering
University of Notre Dame