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Automatic Control, IEEE Transactions on

Issue 8 • Date Aug. 2000

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

    Page(s): 1576 - 1577
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 errors are given. View full abstract»

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

    Page(s): 1577 - 1580
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    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]

    Page(s): 1581 - 1583
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    Freely Available from IEEE
  • H2 norm checking for systems with parameter uncertainties

    Page(s): 1519 - 1522
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (184 KB)  

    This paper studies the problem of H2 norm checking for a MIMO system with parameter uncertainties. Under the assumptions that the coefficients of the numerator polynomial of the system's transfer function are multi-affine functions of the uncertain parameter that varies in a convex polytope, and that the coefficients of the denominator polynomial of the system's transfer function are affine functions of the uncertain parameter which varies in a convex polytope, a vertex checking result is obtained View full abstract»

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  • Design of state observers from a drift-observability property

    Page(s): 1536 - 1540
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 convergence of the observation error. The existence of an exponential observer is correlated to the existence of a solution for an H Riccati-like inequality. Global and semiglobal convergence results are presented View full abstract»

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  • An unstable plant with no poles

    Page(s): 1575 - 1576
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    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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  • A new approach to stability analysis for constrained finite receding horizon control without end constraints

    Page(s): 1507 - 1512
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    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 valid for receding horizon schemes with arbitrary positive-definite terminal weights and does not rely on the use of stabilizing constraints. The result is a computable test for stability, and two simple examples are used to illustrate its application View full abstract»

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

    Page(s): 1522 - 1526
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    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 distance, measured by the gap metric, between their respective sets of all subgraphs under certain index conditions View full abstract»

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  • Noninteracting control with stability for Hamiltonian systems

    Page(s): 1470 - 1482
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    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 this reason, on the way to the main result, it is shown that such dynamics are not necessarily Hamiltonian. Several examples, clarifying the role of different classes of state-feedback control laws (either static or dynamic) in the solution of the problem, are proposed View full abstract»

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  • On cone-invariant linear matrix inequalities

    Page(s): 1558 - 1563
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    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 algorithms. This particular LMI class appears in the computation of upper bounds for some generalizations of the structured singular value μ (spherical μ) and in a class of rank minimization problems previously studied. Examples and comparisons with existing techniques are provided View full abstract»

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

    Page(s): 1503 - 1507
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    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 of the main features is to show from the stability analysis, connection between some arbitrary factors and basin of attraction. High performances, from the design and implementation point of view will be shown through a numerical example under severe conditions View full abstract»

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  • Steering for a class of dynamic nonholonomic systems

    Page(s): 1492 - 1498
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 using sinusoids. The second method builds on this approach by utilizing kinematic steering algorithms for mobile robots in generating more nonlocal motion plans for this class of systems View full abstract»

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  • A trace bound for a general square matrix product

    Page(s): 1563 - 1569
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 and nonsymmetric cases and give tighter bounds in certain cases View full abstract»

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  • Simple mechanical control systems with constraints

    Page(s): 1420 - 1436
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 of nonholonomic mechanical control systems. We look at the Heisenberg system, the upright rolling disk, the roller racer, and the snakeboard View full abstract»

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  • Adaptive control of first-order systems with nonlinear parameterization

    Page(s): 1512 - 1516
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (184 KB)  

    In this paper, an adaptive control method is presented for a class of first-order systems with nonlinear parameterization. The main features of the scheme are that a novel integral-type Lyapunov function is developed for constructing an asymptotically stable adaptive controller, and output tracking error bounds are provided to evaluate the control performance of the adaptive system. The design procedure and the effectiveness of the proposed controller are illustrated through an example study View full abstract»

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

    Page(s): 1527 - 1532
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    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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  • Disturbance decoupled observer design for linear time-invariant systems: a matrix pencil approach

    Page(s): 1569 - 1575
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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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  • Nonlinear attitude and shape control of spacecraft with articulated appendages and reaction wheels

    Page(s): 1455 - 1469
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 reaction wheels provide a sufficiently rich set of inputs. The development is based on a nonlinear, drift-free, control model that characterizes the attitude and shape change dynamics, assuming zero angular momentum of the system. Controllability results are presented for the general case, and specialized results are identified for interesting multibody spacecraft configurations. These results are made explicit by providing computable formulas for the Lie brackets in terms of the spacecraft geometry, mass properties, and shape. Constructive motion planning approaches are described to achieve spacecraft attitude and shape change maneuvers. A distinct feature of these approaches is that they require only simple computations, as is desirable for online implementation. Emphasis is given to the interplay between the shape change dynamics and the attitude change dynamics in achieving the maneuver planning objectives View full abstract»

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  • Practical stability and stabilization

    Page(s): 1554 - 1558
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    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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  • The optimal order of processing sensor information in sequential multisensor fusion algorithms

    Page(s): 1532 - 1536
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    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 simulations of a target tracking system, and by analysis of firstthrough sixth-order target process models using the modified Riccati equation View full abstract»

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  • Stabilization of relative equilibria

    Page(s): 1483 - 1491
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    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 is illustrated with the problem of stabilization of the cowboy relative equilibrium of the double spherical pendulum View full abstract»

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

    Page(s): 1498 - 1502
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 series of Casimir functions can be easily constructed. Interestingly enough, for linear systems the resulting Lyapunov function is the incremental energy; thus our derivations provide a physical explanation to it. An easily verifiable necessary and sufficient condition for the applicability of the technique in the general nonlinear case is given. Some examples that illustrate the method are given View full abstract»

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  • Constructing convex directions for stable polynomials

    Page(s): 1565 - 1569
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    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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  • Optimal finite-precision state-estimate feedback controller realizations of discrete-time systems

    Page(s): 1550 - 1554
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | 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 can be shown as the solutions of a nonlinear programming problem. A sophisticated optimization strategy is presented to provide an efficient method for solving this problem, and a numerical example is given to illustrate the design procedure 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