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IEEE Transactions on Automatic Control

Issue 9 • Date Sept. 1990

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Displaying Results 1 - 19 of 19
  • Dynamics of a learning controller for surface tracking robots on unknown surfaces

    Publication Year: 1990, Page(s):1051 - 1054
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (365 KB)

    An extended Kalman filter is applied to simulated sensor information as an approach to the surface estimation problem. It is assumed that a robotic probe equipped with a tactile sensor is given the task of working with a completely unknown surface. Kinematics and control based on tactile measurements are briefly discussed. An estimator which provides surface information as obtained by an inherentl... View full abstract»

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  • Generalized controller canonical form for linear and nonlinear dynamics

    Publication Year: 1990, Page(s):994 - 1001
    Cited by:  Papers (91)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (728 KB)

    A generalized controller canonical form for linear and nonlinear dynamics is proposed. It is obtained using the theorem of the primitive element from differential algebra. The derivation of the controller form does not apply to multivariable constant linear systems. With the transformations, all nonlinear dynamics can be exactly linearized by dynamic feedback. The main departure from standard theo... View full abstract»

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  • Robot control by using only joint position measurements

    Publication Year: 1990, Page(s):1058 - 1061
    Cited by:  Papers (143)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    An observer for reconstructing the joint velocities of rigid-joint robots is proposed. The approach consists of exploiting the structural properties of the robot dynamics. The associated error dynamics are shown to be asymptotically stable. The observer furnishes the state estimate directly in the physical coordinates, so that no transformation is needed. The stability of some state feedback contr... View full abstract»

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  • Undecidability results for deterministic communicating sequential processes

    Publication Year: 1990, Page(s):1032 - 1039
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (684 KB)

    A study is presented of the subset of the communicating sequential processes (CSP) formalism in which processes are described in terms of recursive equations using only constant processes, deterministic choice, parallel composition, and sequential composition. Even with this limited version, the formalism is powerful enough to model a Turing machine so that a number of important problems such as b... View full abstract»

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  • l1-optimality of feedback control systems: the SISO discrete-time case

    Publication Year: 1990, Page(s):1082 - 1085
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    Controllers that optimally reject a class of disturbances are considered. The problem of determining when a stabilizing control is l1-optimal for a given plant is studied for some stable weighting function. This problem belongs to the class of inverse problems in optimal control introduced by Kalman. It is shown that for a given plant, the set of all the H... View full abstract»

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  • Towards a unified theory of parameter adaptive control: tunability

    Publication Year: 1990, Page(s):1002 - 1012
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (980 KB)

    The author illustrates some of the advantages of thinking of a parameter adaptive control system as a system consisting of a process, a parameterized controller, and a tuner interconnected in a particular way. The proposed structure has the virtue of being general enough to describe many different kinds of adaptive systems, including those of the model-reference, self-tuning, and high-gain feedbac... View full abstract»

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  • Discrete Fourier transform and H approximation

    Publication Year: 1990, Page(s):1044 - 1046
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (216 KB)

    It is shown that uniform rational approximation of nonrational transfer functions can always be obtained by means of the discrete Fourier transform (DFT) as long as such approximants exist. Based on this fact, it is permissible to apply the fast Fourier transform (FFT) algorithm in carrying out rational approximations without being apprehensive of convergence. The DFT is used to obtain traditional... View full abstract»

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  • Minimum H-norm regulation of linear discrete-time systems and its relation to linear quadratic discrete games

    Publication Year: 1990, Page(s):1061 - 1064
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    A solution is derived to the H-optimization problem that arises in multivariable discrete-time regulation when the controller has full access to the state vector. The solution method is based on the close relations that exist between linear quadratic differential game theory and H-optimization. The existing theory of discrete-time quadratic gam... View full abstract»

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  • Robust stability of a class of polynomials with coefficients depending multilinearly on perturbations

    Publication Year: 1990, Page(s):1040 - 1043
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    Necessary and sufficient conditions are given for robust stability of a family of polynomials. Each polynomial is obtained by a multilinearity perturbation structure. Restrictions on the multilinearity are involved, but, in contrast to existing literature, these restrictions are derived from physical considerations stemming from analysis of a closed-loop interval feedback system. The main result i... View full abstract»

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  • Equilibria, stability and reachability of Leslie systems with nonnegative inputs

    Publication Year: 1990, Page(s):1065 - 1068
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    Leslie systems, a particular class of positive systems used in population dynamics and control, are defined and analyzed. A simple property relating sign and stability of their equilibria, and some geometric characteristics of their reachability set (in cases of bounded and unbounded inputs) are proved. All the properties do not hold, in general, in other classes of positive systems. It is shown t... View full abstract»

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  • Block multirate input-output model for sampled-data control systems

    Publication Year: 1990, Page(s):1085 - 1088
    Cited by:  Papers (41)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    A model for multirate sampled-data systems is presented. A detailed analysis of nonconventional sampled-data control systems (SDCS) is performed. The block multirate input-output model illustrates the control possibilities of multirate SDCS. It is obtained from either a transfer function matrix or a state variable representation. The model provides a direct way to represent, design, and understand... View full abstract»

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  • Arbitrarily low sensitivity (ALS) in linear distributed systems using pointwise linear feedback

    Publication Year: 1990, Page(s):1071 - 1075
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    The sensitivity problem is defined for feedback systems with plants described by linear partial differential operators having constant coefficients, in a bounded one-dimensional domain. there are also finitely many observation points and finitely many lumped feedback loops, and a finite number of disturbance inputs. The sensitivity problem is studied in detail for the heat equation, and comments a... View full abstract»

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  • Robust estimation of covariance matrices

    Publication Year: 1990, Page(s):1047 - 1051
    Cited by:  Papers (12)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    Data manipulations which increase the robustness and accuracy of estimators of covariance parameters by using the innovations correlation approach are considered. The procedures are especially useful for improving estimates of process-noise covariance parameters for slowly varying systems when measurement noise is large. The innovations correlate covariance estimation technique developed by P.R. B... View full abstract»

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  • Distributed estimators for nonlinear systems

    Publication Year: 1990, Page(s):1078 - 1081
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (296 KB)

    A nonlinear distributed estimation problem is solved by using reduced-order local models. Using local models with lower dimensions than the observed process model will lessen the local processors' complexities or computational loads. Fusion algorithms that combine local densities to construct the centralized density of a nonlinear random process are presented. The local densities are generated at ... View full abstract»

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  • A first-order Lyapunov robustness method for linear systems with uncertain parameters

    Publication Year: 1990, Page(s):1068 - 1070
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    A method for stability-robustness analysis based on a quadratic Lyapunov function that varies linearly with uncertainty parameters is derived. Linear time-invariant systems with structured uncertainties are discussed. The Lyapunov function is optimized numerically to maximize the robustness region in parameter space. Numerical results are given for four examples in which the first-order method is ... View full abstract»

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  • Optimal observers for systems with colored noises

    Publication Year: 1990, Page(s):1075 - 1078
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    The problem of optimal full-order observers for continuous-time linear systems with colored process and measurement noises is considered. In such cases, optimal estimation of the state involves augmenting the system, thus a higher-order observer is required. The structure of a full-order observer is assumed and necessary conditions for the optimal observer are derived. The conditions are given for... View full abstract»

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  • Modeling and estimation of discrete-time Gaussian reciprocal processes

    Publication Year: 1990, Page(s):1013 - 1023
    Cited by:  Papers (42)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (928 KB)

    Discrete-time Gaussian reciprocal processes are characterized in terms of a second-order two-point boundary-value nearest-neighbor model driven by a locally correlated noise whose correlation is specified by the model dynamics. This second-order model is the analog for reciprocal processes of the standard first-order state-space models for Markov processes. The model is used to obtain a solution t... View full abstract»

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  • Adaptive observers for single output nonlinear systems

    Publication Year: 1990, Page(s):1054 - 1058
    Cited by:  Papers (70)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    An adaptive version of the nonlinear observer obtained by A.J. Krener et al. (1983) is presented. This version involves the cancellation of nonlinear terms by output injection. As an intermediate step, necessary and sufficient conditions are given for transforming a nonlinear system by state-space change of coordinates into the special adaptive observer form that was used by Y. Bastin et al. (1988... View full abstract»

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  • Manufacturing flow control and preventing maintenance: a stochastic control approach

    Publication Year: 1990, Page(s):1024 - 1031
    Cited by:  Papers (77)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (612 KB)

    A stochastic control model for simultaneously planning production and maintenance in a flexible manufacturing system (FMS) is proposed, and an efficient technique for computing the optimal control policy is developed. The model extends previous formulations by including an age-dependent machine failure rate and by allowing the control to influence some jump rates (namely the preventive maintenance... 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