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IEEE Transactions on Automatic Control

Issue 6 • Date June 2006

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Displaying Results 1 - 25 of 28
  • Symbolic feedback control for navigation

    Publication Year: 2006, Page(s):926 - 937
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (39 KB)

    We discuss the generation of symbolic feedback control sequences for navigating a sparsely-described and uncertain environment, together with the problem of sensing landmarks sufficiently well to make feedback meaningful. We explore the use of a symbolic control approach for mitigating the lack of a detailed map of the environment and for reducing the complexity associated with finding control law... View full abstract»

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  • IEEE Transactions on Automatic Control publication information

    Publication Year: 2006, Page(s): c2
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    Freely Available from IEEE
  • Special Section on Symbolic Methods for Complex Control Systems

    Publication Year: 2006, Page(s):921 - 923
    Cited by:  Papers (5)
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  • Symbolic Feedback Control for Navigation

    Publication Year: 2006, Page(s):924 - 925
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    Freely Available from IEEE
  • Symbolic Feedback Control for Navigation

    Publication Year: 2006, Page(s):926 - 937
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1504 KB) | HTML iconHTML

    We discuss the generation of symbolic feedback control sequences for navigating a sparsely-described and uncertain environment, together with the problem of sensing landmarks sufficiently well to make feedback meaningful. We explore the use of a symbolic control approach for mitigating the lack of a detailed map of the environment and for reducing the complexity associated with finding control law... View full abstract»

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  • Reachability and control synthesis for piecewise-affine hybrid systems on simplices

    Publication Year: 2006, Page(s):938 - 948
    Cited by:  Papers (121)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB) | HTML iconHTML

    In this paper, we consider the synthesis of control laws for piecewise-affine hybrid systems on simplices. The construction is based on the solution to the control-to-facet problem at the continuous level, and on dynamic programming at the discrete level. The construction is given as an explicit algorithm using only linear algebra and reach-set computations for automata; no numerical integration i... View full abstract»

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  • A grammatical approach to self-organizing robotic systems

    Publication Year: 2006, Page(s):949 - 962
    Cited by:  Papers (62)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (944 KB) | HTML iconHTML

    In this paper, we define a class of graph grammars that can be used to model and direct concurrent robotic self-assembly and similar self-organizing processes. We give several detailed examples of the formalism and then focus on the problem of synthesizing a grammar so that it generates a given, prespecified assembly. In particular, to generate an acyclic graph we synthesize a binary grammar (rule... View full abstract»

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  • Logic-based solution methods for optimal control of hybrid systems

    Publication Year: 2006, Page(s):963 - 976
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB) | HTML iconHTML

    Combinatorial optimization over continuous and integer variables is a useful tool for solving complex optimal control problems of hybrid dynamical systems formulated in discrete-time. Current approaches are based on mixed-integer linear (or quadratic) programming (MIP), which provides the solution after solving a sequence of relaxed linear (or quadratic) programs. MIP formulations require the tran... View full abstract»

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  • Complexity of control on finite automata

    Publication Year: 2006, Page(s):977 - 986
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB) | HTML iconHTML

    We consider control questions for finite automata viewed as input/output systems. In particular, we find estimates of the minimal number of states of an automaton able to control a given automaton. We prove that, on average, feedback closed-loop control automata do not have fewer states than open-loop control automata when the control objective is to steer the controlled automaton to a target stat... View full abstract»

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  • Feedback encoding for efficient symbolic control of dynamical systems

    Publication Year: 2006, Page(s):987 - 1002
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1024 KB) | HTML iconHTML

    The problem of efficiently steering dynamical systems by generating input plans is considered. Plans are considered which consist of finite-length words constructed on an alphabet of input symbols, which could be, e.g., transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. Efficiency is considered in terms of the computational com... View full abstract»

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  • Symbolic control of linear systems based on symbolic subsystems

    Publication Year: 2006, Page(s):1003 - 1013
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB) | HTML iconHTML

    This paper describes an approach to the control of continuous systems through the use of symbolic models describing the system behavior only at a finite number of points in the state space. These symbolic models can be seen as abstract representations of the continuous dynamics enabling the use of algorithmic controller design methods. We identify a class of linear control systems for which the lo... View full abstract»

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  • Manufacturing systems: LMI approach

    Publication Year: 2006, Page(s):1014 - 1018
    Cited by:  Papers (30)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB) | HTML iconHTML

    This note deals with the control of production systems that produce many part types with limited capacity. First, a simple model is used to show that the inventory control problem can be solved using modern control theory. A state feedback controller that forces the cumulative production of the system to track precisely the cumulative demand is proposed. The tracking problem is formulated as an H<... View full abstract»

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  • A method for stability and bifurcation control

    Publication Year: 2006, Page(s):1019 - 1023
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB) | HTML iconHTML

    In this note, we use the Rössler system as an illustrative example to present a method for controlling stability and bifurcations of nonlinear dynamical systems. This approach employs the idea used in computing the transition variety sets of constrained bifurcations to find the stability boundaries of equilibrium points in parameter space. With this method and feedback control, one can obtain... View full abstract»

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  • Adaptive Jacobian tracking control of robots with uncertainties in kinematic, dynamic and actuator models

    Publication Year: 2006, Page(s):1024 - 1029
    Cited by:  Papers (74)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB) | HTML iconHTML

    Most research so far on robot trajectory control has assumed that the kinematics of the robot is known exactly. However, when a robot picks up tools of uncertain lengths, orientations, or gripping points, the overall kinematics becomes uncertain and changes according to different tasks. Recently, we derived a new adaptive Jacobian tracking controller for robots with uncertain kinematics and dynami... View full abstract»

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  • Discrete sliding mode control of systems with unmatched uncertainty using multirate output feedback

    Publication Year: 2006, Page(s):1030 - 1035
    Cited by:  Papers (29)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB) | HTML iconHTML

    Systems with uncertainties and disturbances are common in practice. In some cases, these disturbances are unmatched. Moreover, in most cases the entire state information is also not available for control purpose. This note proposes a control algorithm for achieving quasi-sliding mode in discrete-time linear time-invariant (LTI) systems with bounded unmatched uncertainties. A multirate output feedb... View full abstract»

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  • Global positioning of robot manipulators with mixed revolute and prismatic joints

    Publication Year: 2006, Page(s):1035 - 1040
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (272 KB) | HTML iconHTML

    The existing controllers for robot manipulators with uncertain gravitational force can globally stabilize only robot manipulators with revolute joints. The main obstacles to the global stabilization of robot manipulators with mixed revolute and prismatic joints are unboundedness of the inertia matrix and the Jacobian of the gravity vector. In this note, a class of globally stable controllers for r... View full abstract»

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  • H control for discrete-time nonlinear stochastic systems

    Publication Year: 2006, Page(s):1041 - 1046
    Cited by:  Papers (41)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (296 KB) | HTML iconHTML

    In this note, we develop an H-type theory for a large class of discrete-time nonlinear stochastic systems. In particular, we establish a bounded real lemma (BRL) for this case. We introduce the notion of stochastic dissipative systems, analogously to the familiar notion of dissipation associated with deterministic systems, and utilize it in the derivation of the BRL. In particula... View full abstract»

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  • Observer design for unknown input nonlinear descriptor systems via convex optimization

    Publication Year: 2006, Page(s):1047 - 1052
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB) | HTML iconHTML

    This paper treats the design problem of full-order observers for nonlinear descriptor systems with unknown input (UI). Depending on the available knowledge on the UI dynamics, two cases are considered. First, a UI proportional observer (UIPO) is proposed when the spectral domain of the UI is unknown. Second, a PIO is proposed when the spectral domain of the UI is in the low frequency range. Suffic... View full abstract»

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  • Formalizing real-time scheduling using priority-based supervisory control of discrete-event systems

    Publication Year: 2006, Page(s):1053 - 1058
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB) | HTML iconHTML

    In this note, we formalize real-time task scheduling by applying an extension of supervisory control theory (SCT) of discrete-event systems to real-time models. The set of all possible timed traces of the system is specified by a discrete timed automaton where each transition is associated with an event occurrence or the passage of one unit of time. We introduce priorities to SCT, and apply them t... View full abstract»

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  • Analysis of coordination in multi-agent systems through partial difference equations

    Publication Year: 2006, Page(s):1058 - 1063
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB) | HTML iconHTML

    In this note, we introduce the framework of partial difference equations (PdEs) over graphs for analyzing the behavior of multi-agent systems equipped with decentralized control schemes. Both leaderless and leader-follower models are considered. PdEs mimic partial differential equations (PDEs) on graphs and can be studied by introducing concepts of functional analysis strongly inspired to the corr... View full abstract»

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  • Stability of linear neutral time-delay systems: exact conditions via matrix pencil solutions

    Publication Year: 2006, Page(s):1063 - 1069
    Cited by:  Papers (29)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB) | HTML iconHTML

    In this note, we study the stability properties of linear neutral delay systems. We consider systems described by both neutral differential-difference and state-space equations, and we seek to determine the delay margin of such systems, that is, the largest range of delay values for which a neutral delay system may preserve its stability. In both cases, we show that the delay margin can be found b... View full abstract»

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  • On the dead-time compensation from L1 perspectives

    Publication Year: 2006, Page(s):1069 - 1073
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (248 KB) | HTML iconHTML

    It is known that both H2 and H optimization problems for dead-time systems are solved by controllers having the so-called modified Smith predictor (dead-time compensator) structure. This note shows that this is also true for the L1 control problem. More precisely, it is demonstrated that the use of the modified Smith predictor enables one to reduce the stand... View full abstract»

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  • Globally stabilizing adaptive control design for nonlinearly-parameterized systems

    Publication Year: 2006, Page(s):1073 - 1079
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB) | HTML iconHTML

    In this note, a new adaptive control design is proposed for nonlinear systems that are possibly nonaffine and contain nonlinearly parameterized unknowns. The proposed control is not based on certainty equivalence principle which forms the foundation of existing and standard adaptive control designs. Instead, a biasing vector function is introduced into parameter estimate; it links the system dynam... View full abstract»

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  • Discrete-Time Markov Chains

    Publication Year: 2006, Page(s):1080 - 1081
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    Freely Available from IEEE
  • Explore IEL IEEE's most comprehensive resource [advertisement]

    Publication Year: 2006, Page(s): 1082
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    Freely Available from IEEE

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