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Automatic Control, IEEE Transactions on

Issue 10 • Date Oct. 1991

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Displaying Results 1 - 15 of 15
  • Comments on "On adaptive inverse dynamics control of rigid robots" [with reply]

    Publication Year: 1991 , Page(s): 1215 - 1216
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (130 KB)  

    The commenters point out an error in the adaptive control approach for robotic manipulators given in the above-named work by M.W. Spong and R. Ortega (see ibid., vol.35, p.92-5, Jan. 1990). It is noted that the authors assert that their adaptive control scheme eliminates the restriction given in J.J. Craig (1986) on the estimated inertia matrix; however, the commenters point out that a form of the... View full abstract»

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  • Doubly coprime matrix-fraction representations using proportional and derivative feedback concepts in generalized state-space systems

    Publication Year: 1991 , Page(s): 1193 - 1195
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (240 KB)  

    The concepts of proportional and derivative state feedback are used to derive some explicit formulas for doubly coprime matrix-fraction representations of generalized state-space systems. Specifically, proportional and derivative state feedback is used to determine the doubly coprime matrix-fraction representations and to solve the corresponding generalized Bezout identity in polynomial matrix for... View full abstract»

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  • A simple PD controller for robots with elastic joints

    Publication Year: 1991 , Page(s): 1208 - 1213
    Cited by:  Papers (123)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (440 KB)  

    The point-to-point control of manipulators having elastic joints is considered. It is shown that a simple PD (proportional plus derivative) controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position. A robustness analysis is also given with respect to uncertainties on the robot parameters. The results of numerical simulatio... View full abstract»

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  • The attitude control problem

    Publication Year: 1991 , Page(s): 1148 - 1162
    Cited by:  Papers (222)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1240 KB)  

    A general framework for the analysis of the attitude tracking control problem for a rigid body is presented. A large family of globally stable control laws is obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body. The controllers share the common structure of a pr... View full abstract»

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  • Parameter estimation for linear discrete-time models with random coefficients

    Publication Year: 1991 , Page(s): 1213 - 1215
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (232 KB)  

    The problem of parameter estimation in linear discrete-time systems with random coefficients is discussed. In particular, the maximum-likelihood estimators and their consistency for the defined structure of the model are derived. The estimators have a structure similar to that of the least square estimators for the linear discrete-time system with constant coefficients View full abstract»

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  • Feedforward digital tracking controller

    Publication Year: 1991 , Page(s): 1199 - 1120
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (364 KB)  

    A digital tracking controller for linear time invariant control systems is presented which is based on feeding forward the reference input and its delayed values. A necessary and sufficient condition for the existence of the proposed controller is also given. The choice between the proposed feedforward tracking controller and one based on error integral augmentation depends on the characteristics ... View full abstract»

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  • Asymptotic stabilization of minimum phase nonlinear systems

    Publication Year: 1991 , Page(s): 1122 - 1137
    Cited by:  Papers (128)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1380 KB)  

    How a class of multivariable nonlinear systems can be stabilized about an equilibrium via smooth state feedback is shown. More precisely, conditions under which, for every compact set of initial states, it is possible to design a feedback law which drives to the equilibrium all initial states in this compact set are described. The theory includes the development of globally defined transformations... View full abstract»

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  • Piecewise monotone filtering in discrete-time with small observation noise

    Publication Year: 1991 , Page(s): 1181 - 1186
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (500 KB)  

    A discrete-time model for filtering with small observation noise is considered. A piecewise linear observation function is considered with two intervals of monotonicity. A sequential quadratic variation test is found to detect intervals of linearity of the observation function. Diffusion approximations to certain discrete processes are made to estimate the mean times for reaching a decision and th... View full abstract»

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  • Control oriented system identification: a worst-case/deterministic approach in H

    Publication Year: 1991 , Page(s): 1163 - 1176
    Cited by:  Papers (174)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1192 KB)  

    The authors formulate and solve two related control-oriented system identification problems for stable linear shift-invariant distributed parameter plants. In each of these problems the assumed a priori information is minimal, consisting only of a lower bound on the relative stability of the plant, an upper bound on a certain gain associated with the plant, and an upper bound on the noise level. T... View full abstract»

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  • H controller design for the SISO case using a Wiener approach

    Publication Year: 1991 , Page(s): 1204 - 1208
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (392 KB)  

    A solution to the H mixed sensitivity problem for the SISO (single-input single-output) case is obtained using a Wiener approach to parameterize all equalizing and stabilizing controllers. The controller which incorporates the LQG (linear quadratic Gaussian) solution has a structure similar to that of D.C. Youla et al. (1976). The system of equations thus obtained is squ... View full abstract»

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  • The necessity of the small-gain theorem for time-varying and nonlinear systems

    Publication Year: 1991 , Page(s): 1138 - 1147
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (672 KB)  

    It is shown that an appropriately modified version of the small-gain theorem which uses the `asymptotic gain' of a fading-memory system leads to a necessary and sufficient condition for the stable invertibility of certain feedback operators. This modified small-gain theorem is then used to obtain conditions for robust finite-energy input-output stability of: (1) nonlinear plants subject to nonline... View full abstract»

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  • Direct position plus velocity feedback control of large flexible space structures

    Publication Year: 1991 , Page(s): 1186 - 1188
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (296 KB)  

    The authors demonstrate the feasibility of shape and position control of large flexible structures with collocated sensors and actuators using direct position-plus-velocity feedback. This result is important for large space structures where the number of modes is very large and eventually unknown. When the number of inputs equals the number of outputs, the stabilizing feedback gain stands for any ... View full abstract»

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  • Efficient DFT-based model reduction for continuous systems

    Publication Year: 1991 , Page(s): 1188 - 1193
    Cited by:  Papers (7)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (548 KB)  

    A method for online identification of reduced-order models (ROM) of stable continuous systems is presented. The method is unique because it utilizes the moving discrete Fourier transform (MDFT) to continuously monitor the frequency-domain profile of the plant input and output signals. These signals need not be sinusoidal, although they must be accurately represented by their DFTs. Also, the input ... View full abstract»

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  • On the estimation of two-dimensional moving average parameters

    Publication Year: 1991 , Page(s): 1196 - 1199
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (284 KB)  

    The authors address the estimation problem of moving average (MA) parameters of a 2D autoregressive moving average (ARMA) model. The problem is equivalent to solving a set of overdetermined 2D transcendental equations. Based on some extensions of the Newton-Raphson method, an iterative algorithm is proposed for estimating 2D MA parameters. The performance of the algorithm is demonstrated by a nume... View full abstract»

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  • Lyapunov design of stabilizing controllers for cascaded systems

    Publication Year: 1991 , Page(s): 1177 - 1181
    Cited by:  Papers (20)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (368 KB)  

    The design of a state feedback law for an affine nonlinear system to render a (as small as possible) compact neighborhood of the equilibrium of interest globally attractive is discussed. Following Z. Artstein's theorem (1983), the problem can be solved by designing a so-called control Lyapunov function. For systems which are in a cascade form, a Lyapunov function meeting Artstein's conditions is d... View full abstract»

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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