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IEE Proceedings D - Control Theory and Applications

Issue 6 • Date Nov. 1991

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Displaying Results 1 - 11 of 11
  • Design of robotic discrete minimum energy regulator

    Publication Year: 1991, Page(s):509 - 514
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (434 KB)

    The optimal control of manipulators is a key to the success of automated manufacturing. The problem considered is an energy minimisation problem with given dynamics and is subject to actuator constraints. A differential dynamic programming algorithm is developed to solve the discrete-time optimal control problem. This method allows calculation of the joint reference trajectories and the design of ... View full abstract»

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  • Distributed artificial intelligence approach to air traffic control

    Publication Year: 1991, Page(s):515 - 524
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (971 KB)

    The idea of distributed planning and problem solving as a reliable and effective methodology for air traffic control is introduced. Some basic concepts and terminology of distributed planning are first discussed, then a novel coordinator-coworker structure is described; this is a control mechanism that can dynamically reorganise the planning system in response to the task at hand. The information ... View full abstract»

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  • Initial condition problem of learning control

    Publication Year: 1991, Page(s):525 - 528
    Cited by:  Papers (21)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (240 KB)

    The present theory on the iterative learning control scheme requires the same initial condition at every iteration. The difficulty of this requirement is examined by showing that the learning control scheme proposed by Arimoto et al. (1984) can diverge for small mismatches as the trial learning is repeated indefinitely.<> View full abstract»

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  • Solution of Lyapunov equation with system matrix in companion form

    Publication Year: 1991, Page(s):529 - 534
    Cited by:  Papers (4)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (354 KB)

    A simple method for solving the matrix Lyapunov equation for linear continuous systems with the system matrix in companion form is proposed. If the system is asymptotically stable, the solution of the Lyapunov equation can be obtained directly from the entries of a Routh table. The proposed method does not involve solution of a linear system of equations or matrix inversion and hence is computatio... View full abstract»

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  • Model reference control of nonlinear plants with uncertain and unbounded terms

    Publication Year: 1991, Page(s):535 - 542
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (527 KB)

    A few new results are presented relating to model reference control (MRC) and model reference adaptive control (MRAC) for nonlinear uncertain plants of a very general nature. No a priori knowledge about the structure of uncertainties (plant terms and coefficients) is assumed, nor is any constant bound on their values. Such plant models result from many applications. In particular, if uncertainties... View full abstract»

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  • Recursive approach to optimal control problem of multiarea electric energy system

    Publication Year: 1991, Page(s):543 - 546
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (260 KB)

    A recursive fixed-point-type method is presented to find the optimal control of a state variable model of the megawatt-frequency control problem of multiarea electric energy systems. The results give the numerical decomposition so that only low-order systems are involved in algebraic computations. This approach is conceptually simple and produces considerable savings of computation.<> View full abstract»

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  • Decoupling and pole assignment in generalised state space systems

    Publication Year: 1991, Page(s):547 - 560
    Cited by:  Papers (5)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (984 KB)

    The problem of input-output decoupling and simultaneous pole assignment for generalised state-space systems via pure proportional-state feedback is studied. A new design approach is presented for the derivation of the general analytical expressions of the decoupling controller matrices and of the diagonal elements of the transfer function of the decoupled closed-loop system. On the basis of this a... View full abstract»

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  • Unifying approach to observers for regular and singular systems

    Publication Year: 1991, Page(s):561 - 572
    Cited by:  Papers (6)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (891 KB)

    A unifying approach is presented for the solution of the following five major observer design problems, for both regular and singular systems: the necessary and sufficient conditions for the problem to have a solution, the order of the minimal observer, the general analytical expressions for the observer matrices, the properties of the closed-loop system, and the full order observer.<> View full abstract»

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  • Variable structure control strategy to automatic generation control of interconnected reheat thermal system

    Publication Year: 1991, Page(s):579 - 585
    Cited by:  Papers (14)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (444 KB)

    The paper deals with the analysis of automatic generation control (AGC) of a two-area reheat thermal system considering a variable structure controller (VSC) based on the sliding mode concept. A systematic method is suggested for obtaining switching hyperplanes. Optimum gain settings of the variable structure controller are obtained, both in the unconstrained (neglecting generation rate) and the c... View full abstract»

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  • Influence of Poisson filter constant on estimation of continuous-time models

    Publication Year: 1991, Page(s):586 - 592
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (371 KB)

    The paper presents the results of an investigation into the influence of the Poisson filter constant on the quality of estimation in continuous-time models of lumped linear dynamical systems, via Poisson moment functionals (PMF). A comparative study of the ordinary and normalised PMFs suggests some useful guidelines for the proper choice of the filter constant in the practical computational enviro... View full abstract»

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  • Discrete-time optimal control for linear time-delay systems with deterministic disturbances

    Publication Year: 1991, Page(s):573 - 578
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (268 KB)

    Presents an approach to formulating the optimisation problem of linear discrete-time systems with delays. It is shown that, by properly augmenting the state vector, the optimisation problem of achieving closed-loop poles inside a circular region with centre (β, 0) and radius α, where α+|β|⩽1, and at the same time accommodating deterministic disturbances, can be reduced to... View full abstract»

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