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IEEE Transactions on Automatic Control

Issue 12 • Date Dec. 1990

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Displaying Results 1 - 21 of 21
  • Passivity based adaptive control for mechanical manipulators using LS-type estimation

    Publication Year: 1990, Page(s):1363 - 1365
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (252 KB)

    A novel adaptive controller for mechanical manipulators is presented. The convergence analysis is based on the passivity properties of the plant and those of the parameter estimation algorithm. Instead of using a gradient-type algorithm, as is currently the case in this sort of synthesis approach, a least-square-type estimation algorithm is proposed. The modified least squares (LS) algorithm is pr... View full abstract»

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  • On the strictly positive realness of Schur interval functions

    Publication Year: 1990, Page(s):1382 - 1385
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    Necessary and sufficient conditions for strictly positive realness of discrete-time interval functions, which may be associated in parameter space by a multidimensional boxed domain, are provided. Positive realness of interval functions are studied, and both necessary and sufficient conditions are provided for such functions to be strictly positive real (SPR) in the presence of interval variations... View full abstract»

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  • Adaptive algorithm structure: impacts on stability and performance

    Publication Year: 1990, Page(s):1355 - 1359
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    The structures of adaptive algorithms are examined for their impact on input-output stability and performance measures. Three general algorithm structures are considered: the a priori form, the a posteriori form, and the proportional integral (PI) form. A parallel development is used to directly compare continuous- and discrete-time versions of the algorithms considered. The standard a priori and ... View full abstract»

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  • Nonlinear strong model matching

    Publication Year: 1990, Page(s):1351 - 1355
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    The problem of matching a given input-output behavior for systems described by general nonlinear differential equations is considered. It is shown that, by appropriately modifying the zero-dynamics algorithm, it is possible to obtain a simple, necessary, and sufficient condition for the solvability of the model matching problem, which requires that the initial state be on an appropriate submanifol... View full abstract»

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  • Structure and order estimation of multivariable stochastic processes

    Publication Year: 1990, Page(s):1338 - 1341
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    An easy-to-implement, numerically efficient algorithm which estimates the Kronecker invariants is presented. A procedure allowing estimation of the structure of a state-space representation for a multivariable stationary stochastic process from measured output data is presented. It is assumed that the observed vector time series is a realization of a process with rational spectrum or the output of... View full abstract»

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  • Obtaining robust stability operationally

    Publication Year: 1990, Page(s):1350 - 1351
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (212 KB)

    Robust stabilization is studied within the context of time-domain feedback control of single-input-single-output distributed parameter systems using approximate models. Using the operational methods of Mikusinski (1983), one can easily obtain strong versions of several famous theorems on robust stabilization. The operational methods of Mikusinski can play a powerful role in control theory. Using t... View full abstract»

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  • Decentralized control and coordination of discrete-event systems with partial observation

    Publication Year: 1990, Page(s):1330 - 1337
    Cited by:  Papers (146)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    Decentralized supervision and coordination are studied for partially observed discrete-event systems. The authors' (1988) previous results on decentralized supervision and supervision under partial observation are extended by incorporating both these features in the control structure. In addition, a concept of coordination is introduced, and conditions for the existence of a coordinating superviso... View full abstract»

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  • Globally stable robust tracking of nonlinear systems using variable structure control and with an application to a robotic manipulator

    Publication Year: 1990, Page(s):1345 - 1350
    Cited by:  Papers (73)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    The globally stable robust output tracking for a class of nonlinear systems is considered. Based only on the knowledge of the bounds on the uncertainties, a variable structure control (VSC) law is developed under the structure matching assumption. It is shown that the outputs of the closed-loop system asymptotically track given output trajectories despite the uncertainties while maintaining the bo... View full abstract»

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  • Maximum likelihood estimation using square root information filters

    Publication Year: 1990, Page(s):1293 - 1298
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    The maximum likelihood parameter estimation algorithm is known to provide optimal estimates for linear time-invariant dynamic systems. However, the algorithm is computationally expensive and requires evaluations of the gradient of a log likelihood function and the Fisher information matrix. By using the square-root information filter, a numerically reliable algorithm to compute the required gradie... View full abstract»

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  • Output feedback controllers of suboptimality degree β

    Publication Year: 1990, Page(s):1369 - 1370
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (140 KB)

    A misconception in a recent paper by D.Z. Zheng (1989) about suboptimal feedback control is highlighted. A novel synthesis method for designing output feedback controllers of suboptimality degree β is developed. These controllers yield a cost value equal to or less than a scalar multiple (β) times the cost value obtained by optimal linear quadratic state feedback control. The output feed... View full abstract»

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  • Generalization of strong Kharitonov theorems to the left sector

    Publication Year: 1990, Page(s):1378 - 1382
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    The zero locations of interval polynomials are examined. In particular, it is shown that a family of interval polynomials will have only zeros in a certain class of left sector if and only if a finite number of specially chosen vertex polynomials have only zeros in the left sector. This finite number of vertex polynomials is dependent on the damping margins of the left sector, but is independent o... View full abstract»

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  • The spectral density of the nonlinear damping model: single DOF case

    Publication Year: 1990, Page(s):1320 - 1329
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    An analytical method of computing the frequency response of single degree of freedom (DOF) oscillators with nonlinear damping is described. The author proposes an energy-type nonlinear damping model and the corresponding stationary probability density with white noise input can be obtained explicitly. A theorem is presented which gives an interesting result, in terms of the Krylov-Bogoliubov appro... View full abstract»

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  • Feedback equivalence for a class of nonlinear singularly perturbed systems

    Publication Year: 1990, Page(s):1359 - 1363
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    The feedback equivalence for a class of nonlinear singularly perturbed systems is studied. This is accomplished by reducing the full-order problem into a lower order exact problem using the slow manifold theory. This facilitates development of an approximate and simpler linearizing control strategy achievable to an arbitrary degree of accuracy. It is shown that, in contradistinction to systems wit... View full abstract»

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  • Fractional balanced reduction: model reduction via fractional representation

    Publication Year: 1990, Page(s):1341 - 1345
    Cited by:  Papers (51)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    A method for the model reduction of finite-dimensional, linear, time-invariant (FDLTI) plants is proposed which uses normalized fractional representations is proposed. The method, dubbed fractional balanced reduction, applies balance and truncate to a special representation of the graph operator of the plant. This operation yields the graph operator of a reduced order plant. The method has such pr... View full abstract»

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  • Computation of the factorized error covariance of the difference between correlated estimators

    Publication Year: 1990, Page(s):1284 - 1292
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (828 KB)

    A state estimation problem where some of the measurements may be common to two or more data sets is considered. Two approaches for computing the error covariance of the differences between filtered estimates (for each data set) are discussed. The first algorithm is based on postprocessing of the Kalman gain profiles of two correlated estimators. It uses UD factors of the covariance of the relative... View full abstract»

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  • Necessary and sufficient conditions for optimality in linear-quadratic problems of optimal control

    Publication Year: 1990, Page(s):1365 - 1369
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    Linear-quadratic Bolza problems of optimal control with variable end points are considered. Under the strengthened Legendre condition, necessary and sufficient optimality conditions are established, and it is shown that the linear-quadratic Bolza problem of optimal control can be reduced to a quadratic minimization problem in a finite-dimensional space. Simple simulations where solutions of a nonl... View full abstract»

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  • Order-recursive factorization of the pseudoinverse of a covariance matrix

    Publication Year: 1990, Page(s):1299 - 1303
    Cited by:  Papers (10)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    A numerically reliable algorithm is developed to recursively update the square root of a pseudoinverse matrix using the square root of a lower dimension pseudoinverse matrix. The numerical computations are based on a generalized singular value decomposition which is used to do a canonical correlation analysis. An operation count is given for sequential and parallel implementation of a partitioned ... View full abstract»

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  • Recursive least-squares identification algorithms with incomplete excitation: convergence analysis and application to adaptive control

    Publication Year: 1990, Page(s):1371 - 1373
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (268 KB)

    The convergence properties of a fairly general class of adaptive recursive least-squares algorithms are studied under the assumption that the data generation mechanism is deterministic and time invariant. First, the (open-loop) identification case is considered. By a suitable notion of excitation subspace, the convergence analysis of the identification algorithm is carried out with no persistent e... View full abstract»

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  • Analysis of discrete-time Kalman filtering under incorrect noise covariances

    Publication Year: 1990, Page(s):1304 - 1309
    Cited by:  Papers (56)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    Analysis tools are developed that can be effectively used to study the performance degradation of a filter when incorrect models of the state and measurement noise covariances are used. For a linear time-variant system with stationary noise processes, it is shown that under certain stability conditions on the system model, the one-step prediction error covariance matrix will converge to a steady-s... View full abstract»

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  • Dynamical discontinuous feedback control of nonlinear systems

    Publication Year: 1990, Page(s):1373 - 1378
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    The problem of analyzing dynamical discontinuous feedback nonlinear controlled plants is addressed. The continuous feedback scheme is assumed to be constituted by a dynamical feedback plant, of nonlinear nature, and a controlled switch obeying a pulse-width-modulation (PWM)-type of switching strategy with sufficiently high sampling rate. It is found that the actual closed-loop controlled responses... View full abstract»

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  • Mapping extended Kalman filters onto linear arrays

    Publication Year: 1990, Page(s):1310 - 1319
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (872 KB)

    Techniques for mapping extended Kalman filters onto linear arrays of programmable cells designed for real-time applications are described. First, a general method for mapping a standard (nonsquare root) Kalman filter, where the columns of the covariance matrix are updated in parallel, is introduced. Next, a general method for mapping a factorized (square root) filter, where fast Givens rotations a... 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