Notification:
We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

Automatic Control, IEEE Transactions on

Issue 2 • Date Feb. 2010

Filter Results

Displaying Results 1 - 25 of 40
  • Table of contents

    Publication Year: 2010 , Page(s): C1 - C4
    Save to Project icon | Request Permissions | PDF file iconPDF (41 KB)  
    Freely Available from IEEE
  • IEEE Control Systems Society

    Publication Year: 2010 , Page(s): C2
    Save to Project icon | Request Permissions | PDF file iconPDF (37 KB)  
    Freely Available from IEEE
  • Scanning the issue

    Publication Year: 2010 , Page(s): 285 - 286
    Save to Project icon | Request Permissions | PDF file iconPDF (36 KB)  
    Freely Available from IEEE
  • Input Delay Compensation for Forward Complete and Strict-Feedforward Nonlinear Systems

    Publication Year: 2010 , Page(s): 287 - 303
    Cited by:  Papers (50)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (511 KB) |  | HTML iconHTML  

    We present an approach for compensating input delay of arbitrary length in nonlinear control systems. This approach, which due to the infinite dimensionality of the actuator dynamics and due to the nonlinear character of the plant results in a nonlinear feedback operator, is essentially a nonlinear version of the Smith predictor and its various predictor-based modifications for linear plants. Global stabilization in the presence of arbitrarily long delay is achieved for all nonlinear plants that are globally stabilizable in the absence of delay and that satisfy the property of forward completeness (which is satisfied by most mechanical systems, electromechanical systems, vehicles, and other physical systems). For strict-feedforward systems, one obtains the predictor-based feedback law explicitly. For the linearizable subclass of strict-feedforward systems, closed-loop solutions are also obtained explicitly. The feedback designs are illustrated through two detailed examples. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Output Feedback Regulation of Stochastic Nonlinear Systems With Stochastic iISS Inverse Dynamics

    Publication Year: 2010 , Page(s): 304 - 320
    Cited by:  Papers (42)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (603 KB) |  | HTML iconHTML  

    This paper develops a unifying framework for output feedback regulation of stochastic nonlinear systems with more general stochastic inverse dynamics. The contributions of this work are characterized by the following novel features: (1) Motivated by the concept of integral input-to-state stability (iISS) in deterministic systems and stochastic input-to-state stability (SISS) using Lyapunov function in stochastic systems, a concept of stochastic integral input-to-state stability (SiISS) using Lyapunov function is first introduced, two important properties of SiISS are obtained: (i) SiISS is strictly weaker than SISS using Lyapunov function; (ii) SiISS is stronger than the minimum-phase property. However, only under the minimum-phase assumption, there is no dynamic output feedback control law for global stabilization in probability. (2) Almost sure boundedness, a reasonable and stronger concept than boundedness in probability, is introduced. The purpose of introducing the concept is to prove the boundedness and convergence of some signals in the closed-loop control system. (3) Some important mathematical tools which play an essential role in the boundedness and convergence analysis of the closed-loop system are established. (4) A unifying framework is proposed to design a dynamic output feedback control law, which drives the states to the origin almost surely while maintaining all the closed-loop signals bounded almost surely. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Persistent Dwell-Time Switched Nonlinear Systems: Variation Paradigm and Gauge Design

    Publication Year: 2010 , Page(s): 321 - 337
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (683 KB) |  | HTML iconHTML  

    Asymptotic gain and adaptive control are studied for persistent dwell-time switched systems. Ultimate variations of auxiliary functions are considered for existence of asymptotic gain and a gauge design is introduced for switching-uniform adaptive control by partial state feedback and output feedback of switched systems subject to unmeasured dynamics and persistent dwell-time switching. The usage of the controlled dynamics as a gauge for the instability mode of the unmeasured dynamics makes it possible to design a control rendering the evolution of the overall system interchangeably driven by the stable modes of the controlled and unmeasured dynamics. Unmeasured-state dependent control gains are dealt with and unknown time-varying parameters are attenuated via asymptotic gain. Verification of asymptotic gain conditions is based on the relation between dissipation rates of unmeasured dynamics and timing characterizations ??p and T p of switching sequences. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Modeling and Unsupervised Classification of Multivariate Hidden Markov Chains With Copulas

    Publication Year: 2010 , Page(s): 338 - 349
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (703 KB) |  | HTML iconHTML  

    Parametric modeling and estimation of non-Gaussian multidimensional probability density function is a difficult problem whose solution is required by many applications in signal and image processing. A lot of efforts have been devoted to escape the usual Gaussian assumption by developing perturbed Gaussian models such as spherically invariant random vectors (SIRVs). In this work, we introduce an alternative solution based on copulas that enables theoretically to represent any multivariate distribution. Estimation procedures are proposed for some mixtures of copula-based densities and are compared in the hidden Markov chain setting, in order to perform statistical unsupervised classification of signals or images. Useful copulas and SIRV for multivariate signal classification are particularly studied through experiments. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Control of Admission and Routing in Loss Networks: Hybrid Dynamic Programming Equations

    Publication Year: 2010 , Page(s): 350 - 366
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (787 KB) |  | HTML iconHTML  

    Call admission and routing control decisions in stochastic loss (circuit-switched) networks with semi Markovian, multi-class, call arrival and general connection time processes are formulated as optimal stochastic control problems. The resulting so-called Hybrid Dynamic Programming equation systems take the form of vectors of partial differential equations with each component associated to a distinct distribution of routed calls over the network (i.e. distinct occupation states). This framework reduces to that of a Markov Decision Process when the traffic is Poisson and the associated computational limitations are approximately those of linear programs. Examples are provided of (i) network state space constructions and controlled state transition processes, (ii) a new closed form solution for a simple network, and (iii) the analysis and illustrative numerical results for a three link network. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Gradient-Like Observers for Invariant Dynamics on a Lie Group

    Publication Year: 2010 , Page(s): 367 - 377
    Cited by:  Papers (20)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (472 KB) |  | HTML iconHTML  

    This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of two dynamical systems is specialized to systems on Lie groups. For invariant systems this leads to a general factorization theorem of a nonlinear observer into a synchronous (internal model) term and an innovation term. The synchronous term is fully specified by the system model. We propose a design methodology for the innovation term based on gradient-like terms derived from invariant or non-invariant cost functions. The resulting nonlinear observers have strong (almost) global convergence properties and examples are used to demonstrate the relevance of the proposed approach. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Optimal Control Formulations of Vibration Reduction Problems

    Publication Year: 2010 , Page(s): 378 - 394
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (618 KB) |  | HTML iconHTML  

    Design of controls to move a flexible body such as a robot arm while minimizing unwanted vibrations has been described in many papers and presented in many forms. For the vibration reduction issue alone, it is shown that almost all the proposed designs can be formulated as optimal controls of either the fixed final time or the minimum time type. Furthermore, it is shown that under reasonable assumptions the two types have the same solution and are thus equivalent. Continuous time, tapped-delay-line input shaping filters, and discrete controls are considered. It is shown that the discrete equivalent of the general vibration reduction problem is a convex problem for the fixed final time case and quasi-convex for the free final time problem. The two formulations are compared in terms of computation complexity as well as practical implementation issues. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Service Time Optimization of Mixed-Line Flow Shop Systems

    Publication Year: 2010 , Page(s): 395 - 404
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (352 KB) |  | HTML iconHTML  

    We consider deterministic mixed-line flow shop systems that are composed of controllable and uncontrollable machines. Arrival times and completion deadlines of jobs are assumed to be known, and they are processed in the order they arrive at the machines. We model these flow shops as serial networks of queues operating under a non-preemptive first-come-first-served policy, and employ max-plus algebra to characterize the system dynamics. Defining completion-time costs for jobs and service costs at controllable machines, a non-convex optimization problem is formulated where the control variables are the constrained service times at the controllable machines. In order to simplify this optimization problem, under some cost assumptions, we show that no waiting is observed on the optimal sample path at the downstream of the first controllable machine. We also present a method to decompose the optimization problem into convex subproblems. A solution algorithm utilizing these findings is proposed, and a numerical study is presented to evaluate the performance improvement due to this algorithm. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • The Inverse Problem of Analytic Interpolation With Degree Constraint and Weight Selection for Control Synthesis

    Publication Year: 2010 , Page(s): 405 - 418
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (754 KB) |  | HTML iconHTML  

    The minimizers of certain weighted entropy functionals are the solutions to an analytic interpolation problem with a degree constraint, and all solutions to this interpolation problem arise in this way by a suitable choice of weights. Selecting appropriate weights is pertinent to feedback control synthesis, where interpolants represent closed-loop transfer functions. In this paper we consider the correspondence between weights and interpolants in order to systematize feedback control synthesis with a constraint on the degree. There are two basic issues that we address: we first characterize admissible shapes of minimizers by studying the corresponding inverse problem, and then we develop effective ways of shaping minimizers via suitable choices of weights. This leads to a new procedure for feedback control synthesis. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Robust Stabilization of Multi Input Plants With Saturating Actuators

    Publication Year: 2010 , Page(s): 419 - 425
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (321 KB) |  | HTML iconHTML  

    This technical note proposes the use of a time-varying sliding surface for stabilizing linear, possibly unstable, Multi-Input plants subject to saturating actuators, in the presence of bounded matched uncertainties. The present work generalizes our previous contributions in several different directions. First, the constructive procedure is generalized, and a result about asymptotical stabilization is given, under the usual assumption of the saturation threshold being larger than the bound on uncertainties. Another goal of the technical note is to widen the set of plants considered including linear Multi-Input systems. Simulation results show both the effectiveness of the control technique and the low computational burden required. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Uniqueness of a Constrained Variational Problem and Large Deviations of Buffer Size

    Publication Year: 2010 , Page(s): 425 - 430
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (269 KB) |  | HTML iconHTML  

    We show global uniqueness of the solution to a class of constrained variational problems, using scaling properties. This is used to establish the essential uniqueness of solutions of a large deviations problem in multiple dimensions. The result is motivated by models of buffers, and in particular the probability of, and typical path to overflow in the limit of small buffers, which we analyze. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Sufficient Conditions for Finite-Time Stability and Stabilization of Nonlinear Quadratic Systems

    Publication Year: 2010 , Page(s): 430 - 434
    Cited by:  Papers (26)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (330 KB) |  | HTML iconHTML  

    In this paper we deal with the finite-time stability problem for quadratic systems. Such class of systems plays an important role in the modeling of a wide class of nonlinear processes (electrical, robotic, biological, etc.). The main results of the paper consist of two sufficient conditions for finite-time stability analysis and finite-time stabilization via static state feedback; both conditions are given in terms of the feasibility of a convex optimization problem, involving linear matrix inequalities. A numerical example illustrates the applicability of the proposed technique. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A Class of Neutral-Type Delay Differential Equations That are Effectively Retarded

    Publication Year: 2010 , Page(s): 435 - 440
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (216 KB) |  | HTML iconHTML  

    We demonstrate that some delay-differential equations of neutral type are, up to basis transformation, equivalent to retarded delay differential equations. In particular, for two classes of neutral delay differential equation models, we use state transformations to show that delayed derivatives can in some cases be expressed in terms of the model's state. Hence, we obtain conditions when neutral delay differential equations can be transformed into retarded delay differential equations. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Approximation and Monotonicity of the Maximal Invariant Ellipsoid for Discrete-Time Systems by Bounded Controls

    Publication Year: 2010 , Page(s): 440 - 446
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (333 KB) |  | HTML iconHTML  

    An analytic approximation of the maximal invariant ellipsoid for a discrete-time linear system with bounded controls is derived. The approximation is expressed explicitly in terms of the coefficient matrices of the system and the positive definite matrix that represents the shape of the invariant ellipsoid. It is shown that this approximation is very close to the exact maximal invariant ellipsoid obtained by solving either an LMI-based optimization problem or a nonlinear algebraic equation. Furthermore, the necessary and sufficient condition for such an approximation to be equal to the exact maximal invariant ellipsoid is established. On the other hand, the monotonicity of the maximal invariant ellipsoid resulting from the ??minimal energy control with guaranteed convergence rate?? problem is established that shows a trade-off between increasing the size of the invariant ellipsoid and increasing the convergence rate of the closed-loop system under a bounded control. Two illustrative examples demonstrate of the effectiveness of the results. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Stabilization of Sampled-Data Control Systems With Control Inputs Missing

    Publication Year: 2010 , Page(s): 447 - 452
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (288 KB) |  | HTML iconHTML  

    This note is concerned with the stabilization problem for sampled-data control systems with control inputs missing. A sufficient condition is derived for the existence of exponentially stabilizing state feedback controllers via the switched system approach. The obtained condition establishes several quantitative relations among some system parameters (such as the sampling period and the exponential decay rate), the actual data missing rate, and the admissible data missing rate bound. Two illustrative examples are given to show the effectiveness of the proposed results. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Transient Behavior of Two-Machine Geometric Production Lines

    Publication Year: 2010 , Page(s): 453 - 458
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (241 KB) |  | HTML iconHTML  

    Production system transients characterize the process of reaching the steady state throughput. Reducing transients' duration is important in a number of applications. This technical note is intended to analyze transients in serial production lines with machines obeying the geometric reliability model. The Markov chain approach is used, and the second largest eigenvalue of the transition matrices is utilized to characterize the transients. Due to large dimensionality of the transition matrices, only two-machine systems are addressed, and the second largest eigenvalue is investigated as a function of the breakdown and repair probabilities. Conditions under which shorter up- and downtimes lead to faster transients are provided. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Absolute Stability of Second-Order Systems With Asymmetric Sector Boundaries

    Publication Year: 2010 , Page(s): 458 - 463
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (514 KB) |  | HTML iconHTML  

    Absolute stability is considered under an asymmetric sector condition, resulting in a generalization of the classical absolute stability analysis. In addition to the extension to asymmetric sector conditions, the current approach, based on the recent work of Leonov (2005), yields results that are both necessary and sufficient for absolute stability. An asymmetric sector condition allows different sector bounds to be imposed in different regions of the state space, and removes the restriction that the system nonlinearity be confined to only the first and third quadrants. This work applies to second-order systems. The necessary and sufficient conditions are derived by comparing the vector field of the nonlinear system with that of certain piecewise linear systems. As an example, stabilization of a supercavitating (underwater) vehicle system is considered and it is shown that the new results are less conservative than those obtained with classical theory, which requires imposition of a symmetric sector condition. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Adaptive Adversarial Multi-Armed Bandit Approach to Two-Person Zero-Sum Markov Games

    Publication Year: 2010 , Page(s): 463 - 468
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (331 KB) |  | HTML iconHTML  

    This technical note presents a recursive sampling-based algorithm for finite horizon two-person zero-sum Markov games (MGs) based on the Exp3 algorithm developed by Auer et al. for adaptive adversarial multi-armed bandit problems. We provide a finite-iteration bound to the equilibrium value of the induced ??sample average approximation game?? of a given MG and prove asymptotic convergence to the equilibrium value of the given MG. The time and space complexities of the algorithm are independent of the state space of the game. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Snapshot-Based Balanced Truncation for Linear Time-Periodic Systems

    Publication Year: 2010 , Page(s): 469 - 473
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (232 KB) |  | HTML iconHTML  

    We introduce an algorithm based on a method of snapshots for computing approximate balanced truncations for discrete-time, linear time-periodic systems. The algorithm is applicable to stable (including neutrally stable) systems with very high dimension, allowing either the output or the input to be very high dimensional, as well. This algorithm is illustrated with a numerical example. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Parametric Identification of Hammerstein Systems With Consistency Results Using Stochastic Inputs

    Publication Year: 2010 , Page(s): 474 - 480
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (371 KB) |  | HTML iconHTML  

    The extended least squares algorithm is applied to identify the Hammerstein system, where the nonlinear static function f(??) is expressed as a linear combination of basic functions with unknown coefficients. Strong consistency of the estimates is established and their convergent rates are obtained as well. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Stability Margins of {cal L}_{1} Adaptive Control Architecture

    Publication Year: 2010 , Page(s): 480 - 487
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (431 KB) |  | HTML iconHTML  

    This technical note presents the L 1 adaptive control architecture for systems in the presence of unknown high-frequency gain with known sign, time-varying unknown parameters and disturbances. The L 1 adaptive controller leads to uniform performance bounds for the system's input and output signals, which can be systematically improved by increasing the adaptation rate. For constant unknown parameters, this result leads to analytically computable time-delay margin of a semiglobal nature. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Distributed and Recursive Parameter Estimation in Parametrized Linear State-Space Models

    Publication Year: 2010 , Page(s): 488 - 492
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (200 KB) |  | HTML iconHTML  

    We consider a network of sensors deployed to sense a spatio-temporal field and infer parameters of interest about the field. We are interested in the case where each sensor's observation sequence is modeled as a state-space process that is perturbed by random noise, and the models across sensors are parametrized by the same parameter vector. The sensors collaborate to estimate this parameter from their measurements, and to this end we propose a distributed and recursive estimation algorithm, which we refer to as the incremental recursive prediction error algorithm. This algorithm has the distributed property of incremental gradient algorithms and the on-line property of recursive prediction error algorithms. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.

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