# IEEE Transactions on Automatic Control

## Filter Results

Displaying Results 1 - 25 of 45

Publication Year: 2009, Page(s):C1 - C4
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• ### IEEE Transactions on Automatic Control publication information

Publication Year: 2009, Page(s): C2
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• ### Scanning the issue

Publication Year: 2009, Page(s):1177 - 1178
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• ### Directional Redundancy for Robot Control

Publication Year: 2009, Page(s):1179 - 1192
Cited by:  Papers (19)
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The paper presents a new approach to design a control law that realizes a main task with a robotic system and simultaneously takes supplementary constraints into account. Classically, this is done by using the redundancy formalism. If the main task does not constrain all the motions of the robot, a secondary task can be achieved by using only the remaining degrees of freedom (DOF). We propose a ne... View full abstract»

• ### Approximations of Stochastic Hybrid Systems

Publication Year: 2009, Page(s):1193 - 1203
Cited by:  Papers (51)
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This paper develops a notion of approximation for a class of stochastic hybrid systems that includes, as special cases, both jump linear stochastic systems and linear stochastic hybrid automata. Our approximation framework is based on the recently developed notion of the so-called stochastic simulation functions. These Lyapunov-like functions can be used to rigorously quantify the distance or erro... View full abstract»

• ### Asymptotic Smooth Stabilization of the Inverted 3-D Pendulum

Publication Year: 2009, Page(s):1204 - 1215
Cited by:  Papers (41)
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The 3-D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom; it is acted on by gravity and it is fully actuated by control forces. The 3-D pendulum has two disjoint equilibrium manifolds, namely a hanging equilibrium manifold and an inverted equilibrium manifold. The contribution of this paper is that two fundamental stabilization problems for th... View full abstract»

• ### Feedback and Weighting Mechanisms for Improving Jacobian Estimates in the Adaptive Simultaneous Perturbation Algorithm

Publication Year: 2009, Page(s):1216 - 1229
Cited by:  Papers (35)
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It is known that a stochastic approximation (SA) analogue of the deterministic Newton-Raphson algorithm provides an asymptotically optimal or near-optimal form of stochastic search. However, directly determining the required Jacobian matrix (or Hessian matrix for optimization) has often been difficult or impossible in practice. This paper presents a general adaptive SA algorithm that is based on a... View full abstract»

• ### The Maximum Principles for Stochastic Recursive Optimal Control Problems Under Partial Information

Publication Year: 2009, Page(s):1230 - 1242
Cited by:  Papers (47)
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A maximum principle for partially observed stochastic recursive optimal control problems is obtained under the assumption that control domains are not necessarily convex and forward diffusion coefficients do not contain control variables. Such kind of recursive optimal control problems have wide applications in finance and economics such as recursive utility optimization and principal-agent proble... View full abstract»

• ### Regret and Convergence Bounds for a Class of Continuum-Armed Bandit Problems

Publication Year: 2009, Page(s):1243 - 1253
Cited by:  Papers (15)
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We consider a class of multi-armed bandit problems where the set of available actions can be mapped to a convex, compact region of Ropfd, sometimes denoted as the ldquocontinuum-armed banditrdquo problem. The paper establishes bounds on the efficiency of any arm-selection procedure under certain conditions on the class of possible underlying reward functions. Both finite-time lower boun... View full abstract»

• ### Cubature Kalman Filters

Publication Year: 2009, Page(s):1254 - 1269
Cited by:  Papers (728)
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In this paper, we present a new nonlinear filter for high-dimensional state estimation, which we have named the cubature Kalman filter (CKF). The heart of the CKF is a spherical-radial cubature rule, which makes it possible to numerically compute multivariate moment integrals encountered in the nonlinear Bayesian filter. Specifically, we derive a third-degree spherical-radial ... View full abstract»

• ### Distributed Control: A Sequentially Semi-Separable Approach for Spatially Heterogeneous Linear Systems

Publication Year: 2009, Page(s):1270 - 1283
Cited by:  Papers (38)
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We consider the problem of designing controllers for spatially-varying interconnected systems distributed in one spatial dimension. The matrix structure of such systems can be exploited to allow fast analysis and design of centralized controllers with simple distributed implementations. Iterative algorithms are provided for stability analysis, H infin analysis and sub-optimal con... View full abstract»

• ### On the Minimum Stable Commutation Time for Switching Nonlinear Systems

Publication Year: 2009, Page(s):1284 - 1289
Cited by:  Papers (12)
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Real systems are often driven by switching reference signals which affect dynamics and/or equilibrium points. This technical note addresses the computation of upper bounds of the minimum commutation time ensuring stability for switching nonlinear systems. Specifically, we consider the cases of constant and variable equilibrium point of interest, for polynomial systems and for a class of non-polyno... View full abstract»

• ### Value Iteration for (Switched) Homogeneous Systems

Publication Year: 2009, Page(s):1290 - 1294
Cited by:  Papers (11)
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In this note, we prove that dynamic programming value iteration converges uniformly for discrete-time homogeneous systems and continuous-time switched homogeneous systems. For discrete-time homogeneous systems, rather than discounting the cost function (which exponentially decreases the weights of the cost of future actions), we show that such systems satisfy approximate dynamic programming condit... View full abstract»

• ### Robust Stability and Stabilization of Fractional-Order Interval Systems: An LMI Approach

Publication Year: 2009, Page(s):1294 - 1299
Cited by:  Papers (128)
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This technical note presents necessary and sufficient conditions for the stability and stabilization of fractional-order interval systems. The results are obtained in terms of linear matrix inequalities. Two illustrative examples are given to show that our results are effective and less conservative for checking the robust stability and designing the stabilizing controller for fractional-order int... View full abstract»

• ### Robust Output Feedback Guaranteed Cost Control of Nonlinear Stochastic Uncertain Systems Via an IQC Approach

Publication Year: 2009, Page(s):1299 - 1304
Cited by:  Papers (20)
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This technical note presents a new approach to constructive output feedback robust nonlinear controller design based on the use of IQCs and minimax LQG control. The approach involves a class of controllers which include copies of the nonlinearities in the controller. The linear part of the controller is synthesized using minimax LQG control theory which is closely related to H infin View full abstract»

• ### A Sampled-Data Singularly Perturbed Boundary Control for a Heat Conduction System With Noncollocated Observation

Publication Year: 2009, Page(s):1305 - 1310
Cited by:  Papers (21)
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This note presents a sampled-data strategy for a boundary control problem of a heat conduction system modeled by a parabolic partial differential equation (PDE). Using the zero-order-hold, the control law becomes a piecewise constant signal, in which a step change of value occurs at each sampling instant. Through the dasialiftingpsila technique, the PDE is converted into a sequence of constant inp... View full abstract»

• ### Guaranteed Stability of Polynomials Under Application of a Uniform Nonnegative Polynomial Mapping on Coefficients

Publication Year: 2009, Page(s):1311 - 1313
Cited by:  Papers (1)
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This note presents a new result for the guaranteed stability of polynomials under uniform non-negative polynomial mapping on the coefficients. View full abstract»

• ### Reflection Coefficients of Polynomials and Stable Polytopes

Publication Year: 2009, Page(s):1314 - 1318
Cited by:  Papers (4)
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The geometry of stable discrete polynomials using their coefficients and reflection coefficients is investigated. Two linear Schur invariant transformations with a free parameter in the polynomial coefficient space are introduced. The first transformation Rfrn times RfrrarrRfrn maps an arbitrary stable polytope into another stable polytope. The second transformation Rfrn... View full abstract»

• ### Homography-Based Visual Servo Control With Imperfect Camera Calibration

Publication Year: 2009, Page(s):1318 - 1324
Cited by:  Papers (49)
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In this technical note, a robust adaptive uncalibrated visual servo controller is proposed to asymptotically regulate a robot end-effector to a desired pose. A homography-based visual servo control approach is used to address the six degrees-of-freedom regulation problem. A high-gain robust controller is developed to asymptotically stabilize the rotation error, and an adaptive controller is develo... View full abstract»

• ### Singular Perturbations and Lindblad-Kossakowski Differential Equations

Publication Year: 2009, Page(s):1325 - 1329
Cited by:  Papers (9)
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We consider an ensemble of quantum systems described by a density matrix, solution of a Lindblad-Kossakowski differential equation. We focus on the special case where the decoherence is only due to a highly unstable excited state and where the spontaneously emitted photons are measured by a photo-detector. We propose a systematic method to eliminate the fast and asymptotically stable dynamics asso... View full abstract»

• ### Collective Motion From Consensus With Cartesian Coordinate Coupling

Publication Year: 2009, Page(s):1330 - 1335
Cited by:  Papers (64)
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Collective motions including rendezvous, circular patterns, and logarithmic spiral patterns can be achieved by introducing Cartesian coordinate coupling to existing consensus algorithms. We study the collective motions of a team of vehicles in 3D by introducing a rotation matrix to an existing consensus algorithm for double-integrator dynamics. It is shown that the network topology, the damping ga... View full abstract»

• ### Synchronized Output Regulation of Linear Networked Systems

Publication Year: 2009, Page(s):1336 - 1341
Cited by:  Papers (119)
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This note addresses the problem of synchronized output regulation of linear networked system where all the nodes have their outputs track signals produced by the same exosystem and the state of exosystem is accessible only to leader nodes, while follower nodes regulate their outputs via a distributed synchronous protocol. This problem can be decoupled into two: one is the output regulation problem... View full abstract»

• ### Activity Invariant Sets and Exponentially Stable Attractors of Linear Threshold Discrete-Time Recurrent Neural Networks

Publication Year: 2009, Page(s):1341 - 1347
Cited by:  Papers (35)
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This technical note proposes to study the activity invariant sets and exponentially stable attractors of linear threshold discrete-time recurrent neural networks. The concept of activity invariant sets deeply describes the property of an invariant set by that the activity of some neurons keeps invariant all the time. Conditions are obtained for locating activity invariant sets. Under some conditio... View full abstract»

• ### ${cal H}_{infty}$ Filtering of Discrete-Time Markov Jump Linear Systems Through Linear Matrix Inequalities

Publication Year: 2009, Page(s):1347 - 1351
Cited by:  Papers (76)
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This technical note addresses the discrete-time Markov jump linear systems H infin filtering design problem. First, under the assumption that the Markov parameter is measurable, the main contribution is the linear matrix inequality (LMI) characterization of all linear filters such that the estimation error remains bounded by a given H infin norm level, yielding ... View full abstract»

• ### Robust Stabilization and Performance Recovery of Nonlinear Systems With Unmodeled Dynamics

Publication Year: 2009, Page(s):1351 - 1356
Cited by:  Papers (15)
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In this technical note we present a time-scale separation redesign for stabilization and performance recovery of nonlinear systems with unmodeled dynamics. The unmodeled dynamics studied do not change the relative degree of the plant and are minimum phase. We design two sets of high gain filters-the first to estimate the uncertain input to the plant over a fast time-scale, and the second to force ... View full abstract»

## 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

Full Aims & Scope

## Meet Our Editors

Editor-in-Chief
P. J. Antsaklis
Dept. Electrical Engineering
University of Notre Dame