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IEEE Transactions on Automatic Control

Issue 6 • June 1986

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Displaying Results 1 - 25 of 31
  • [Front cover and table of contents]

    Publication Year: 1986, Page(s): 0
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    Freely Available from IEEE
  • Scanning the issue

    Publication Year: 1986, Page(s):481 - 482
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    Freely Available from IEEE
  • The control of robot manipulators with bounded input

    Publication Year: 1986, Page(s):483 - 490
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (714 KB)

    The problem of tracking a desired trajectory in the state space of ann-link robotic manipulator with bounds on the allowable input torque is considered. Using a so-called optimal decision strategy (ODS), a pointwise optimal control law is derived which, at each timet, minimizes the deviation between the vector of joint accelerations and a desired joint acceleration vector, su... View full abstract»

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  • A dynamic programming approach to trajectory planning of robotic manipulators

    Publication Year: 1986, Page(s):491 - 500
    Cited by:  Papers (163)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1023 KB)

    This paper presents a solution to the problem of minimizing the cost of moving a robotic manipulator along a specified geometric path subject to input torque/force constraints, taking the coupled, nonlinear dynamics of the manipulator into account. The proposed method uses dynamic programming (DP) to find the positions, velocities, accelerations, and torques that minimize cost. Since the use of pa... View full abstract»

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  • Optimal rejection of persistent bounded disturbances

    Publication Year: 1986, Page(s):527 - 534
    Cited by:  Papers (248)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (775 KB)

    In this paper, we formulate the problem of optimal disturbance rejection in the case where the disturbance is generated as the output of a stable system in response to an input which is assumed to be of unit amplitude, but is otherwise arbitrary. The objective is to choose a controller that minimizes the maximum amplitude of the plant output in response to such a disturbance. Mathematically, this ... View full abstract»

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  • On the topology of spaces of controllable and observable systems

    Publication Year: 1986, Page(s):557 - 559
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    Topological properties of classes of state-space systems (A, B, C) in R^{n(n+m+p)}are considered, using the natural Euclidean topology. In particular, the connected components of the spaces of controllable, observable, and controllable and observable systems are characterized. Similar results are then easily established for corresponding spaces of rational transfer matrices. View full abstract»

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  • First-order models for slow sampled-data multivariable systems: An asymptotic analysis

    Publication Year: 1986, Page(s):564 - 567
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    The combined modeling and control problem form-input/m-output synchronously sampled systemsG(z)is considered as a parameterized control problem parameterized by the sampling intervalh. It is shown how successful designs can always be based on a rough and ready first-order model provided that the sampling rate is slow enough. One consequence of the result... View full abstract»

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  • Reducing the effects of model reduction on stability boundaries and limit-cycle characteristics

    Publication Year: 1986, Page(s):567 - 569
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    In this note, the effects of model reduction on the stability boundaries of control systems with parameter variations, and the limit-cycle characteristics of nonlinear control systems are investigated. In order to reduce these effects, a method is used which can approximate the original transfer function ats = 0,s = infty, and also match some selected points on the frequency ... View full abstract»

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  • On solution of the periodic Riccati equations

    Publication Year: 1986, Page(s):591 - 592
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (189 KB)

    Results presented by Mori in the article named above [ibid., vol. AC-30, pp. 162-164, Feb. 1985] which give some bounds for the trace and the determinant of the positive definite solution to the algebraic Riccati matrix equation, are shown to be erroneous, and suggestions to remedy these errors are made. View full abstract»

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  • Comments on "On some bounds in the algebraic Riccati and Lyapunov equations"

    Publication Year: 1986, Page(s): 591
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (98 KB)

    Results presented by Moil in the paper, which give some bounds for the trace and the determinant of the positive definite solution to the algebraic Riccati matrix equation, are shown to be erroneous, and suggestions to remedy these errors are made. View full abstract»

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  • Author's reply

    Publication Year: 1986, Page(s): 591
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (98 KB)

    First Page of the Article
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  • Comments on "New techniques for the design of observers"

    Publication Year: 1986, Page(s): 592
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (110 KB)

    This note is to point out that by fully using the freedom of the observer equation rather than the arbitrary choice suggested in the paper, significantly better results can be derived with applications and solutions to many important problems. View full abstract»

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  • [Back cover]

    Publication Year: 1986, Page(s): 0
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    Freely Available from IEEE
  • On the use of the norm-coerciveness theorem in the identifiability problem of linear compartmental models

    Publication Year: 1986, Page(s):573 - 576
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    The identifiability of parameters in a model with known structure and no noise is the problem of accurate determination of the number of parameter space points which are solutions to the identification problem. Using the norm-coerciveness theorem, we demonstrate a result on global identifiability. We introduce the idea of a strong separator of the parameter space, which divides this space into var... View full abstract»

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  • Bounds on the accuracy of Gaussian ARMA parameter estimation methods based on sample covariances

    Publication Year: 1986, Page(s):579 - 582
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    The asymptotic accuracy of Gaussian ARMA parameter estimation methods based on a fixed number of sample covariances is considered. Several key results are briefly reviewed, including: i) a general asymptotic expression for the error covariance of the ARMA parameter estimates; ii) the fact that this error covariance is always greater than a certain lower bound; iii) the fact that this lower bound i... View full abstract»

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  • Certainty equivalence and the minimax principle in self-tuning control

    Publication Year: 1986, Page(s):587 - 590
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    The majority of the published treatments of self-tuning controllers employ a certainty equivalence assumption whereby at each step, identification is performed first and then a control is devised by treating parameter estimates as if they were the correct values. This note demonstrates that when knowledge of parameter estimate uncertainty is used to minimize the maximum one-step-ahead cost, the op... View full abstract»

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  • Multirate hybrid adaptive control

    Publication Year: 1986, Page(s):582 - 586
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    A design method is proposed based upon the use of several hybrid adaptive controllers which work in parallel at different sampling rates. The stability of the overall adaptive scheme is preserved even in the presence of uniformly bounded disturbances. The sampling periods are determined adaptively to the tracking error variations. View full abstract»

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  • Perturbed optimal control problems

    Publication Year: 1986, Page(s):535 - 542
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (912 KB)

    We examine a family of problems obtained by perturbing infinite-dimensionally the dynamics of an optimal control problem. A formula is derived for the generalized gradient of the associated value function, one which specializes to yield, for instance, information about ordinary directional derivatives. Several examples are discussed. View full abstract»

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  • On linear system reduction by impulse energy approximation

    Publication Year: 1986, Page(s):551 - 552
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (224 KB)

    Linear system reduction by impulse response energy approximation is analyzed and limitations are discussed. To show that in general the claims made for the procedure are not true, a numerical example is included. View full abstract»

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  • Further results on the stabilizing property of certainty equivalent controllers

    Publication Year: 1986, Page(s):586 - 587
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (216 KB)

    The conditions which guarantee the stabilization of stochastic-parameter systems by infinite-horizon certainty-equivalent controllers are generalized to the case of random matrices with possibly correlated elements. The same conditions are shown to be sufficient for stabilizability by the corresponding optimal controllers. View full abstract»

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  • Constrained optimization methods in Hilbert spaces and their applications to optimal control problems with functional inequality constraints

    Publication Year: 1986, Page(s):559 - 564
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    This note generalizes constrained optimization methods in a finite-dimensional space into Hilbert spaces and investigates computational methods for optimal control problems with functional inequality constraints. Two methods are proposed by applying the feasible direction method and the constrained quasi-Newton method. Subsidiary problems for direction-finding that are originally linear-quadratic ... View full abstract»

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  • Time-optimal motions of robots in assembly tasks

    Publication Year: 1986, Page(s):512 - 518
    Cited by:  Papers (124)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (760 KB)

    For a cylindrical, and a spherical robot, and a robot with a horizontal articulated arm with two links, time-optimal unconstrained trajectories for arbitrary fixed initial and final positions are calculated. The exact equations of motion are utilized. The controls (torques and forces) are limited. The general structure of the optimal solution is discussed and explained physically for each robot. T... View full abstract»

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  • Adaptive stabilization of single-input single-output delay systems

    Publication Year: 1986, Page(s):577 - 579
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    For the problem of adaptive stabilization of linear systems with unknown, noncommensurate, real delays, the existence of a smooth controller that regulates the output to zero is proven. The assumptions imposed on the system are natural generalizations of the familiar minimum phase and relative degree one conditions in nondelay systems. View full abstract»

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  • Proof of a conjecture of Wohltmann on target path controllability

    Publication Year: 1986, Page(s):571 - 573
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB)

    We prove that a sufficient condition for target path controllability, as defined by H.-W. Wohltmann, is also necessary. View full abstract»

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  • On the model-following problem and its well-posedness

    Publication Year: 1986, Page(s):554 - 557
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    Based on the geometric results given by Morse [1], solvability conditions of the model-following problem with internal stability (MFPIS) are given for the case where not all the plant state variables are available for measurement. Also, by using the results, explicit criteria for well-posedness of the MFPIS are given. These criteria are essentially identical with solvability conditions for the per... 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