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Automatic Control, IEEE Transactions on

Issue 3 • Date March 2011

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Displaying Results 1 - 25 of 37
  • Table of contents

    Page(s): C1 - C4
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  • IEEE Control Systems Society

    Page(s): C2
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  • List of Reviewers for 2010

    Page(s): 473 - 480
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  • Scanning the issue

    Page(s): 481 - 482
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  • Computationally Efficient Kalman Filtering for a Class of Nonlinear Systems

    Page(s): 483 - 491
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (388 KB) |  | HTML iconHTML  

    This paper deals with recursive state estimation for the class of discrete time nonlinear systems whose nonlinearity consists of one or more static nonlinear one-variable functions. This class contains several important subclasses. The special structure is exploited to permit accurate computations without an increase in computational cost. The proposed method is compared with standard Extended Kalman Filter, Unscented Kalman Filter and Gauss-Hermite Kalman Filter in three illustrative examples. The results show that it yields good results with small computational cost. View full abstract»

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  • Stochastic State Dependent Population Games in Wireless Communication

    Page(s): 492 - 505
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (874 KB) |  | HTML iconHTML  

    Much research has been devoted to the tradeoff between throughput and power consumption. Yet little has been done concerning another central challenge: the limitation on battery life. In this paper we study power control in a way that combines all above-mentioned aspects. We propose an appropriate performance metric and establish an optimization framework to analyze it: an adaptation of the Anonymous Sequential Game framework introduced in 1988 by Jovanovic and Rosenthal. We characterize the structure of the equilibrium policies, and provide a fast algorithm to reach equilibrium. View full abstract»

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  • On the Convergence of an Efficient Algorithm for Kullback–Leibler Approximation of Spectral Densities

    Page(s): 506 - 515
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (482 KB) |  | HTML iconHTML  

    This paper deals with a method for the approximation of a spectral density function among the solutions of a generalized moment problem à la Byrnes/Georgiou/Lindquist. The approximation is pursued with respect to the Kullback-Leibler pseudo-distance, which gives rise to a convex optimization problem. After developing the variational analysis, we discuss the properties of an efficient algorithm for the solution of the corresponding dual problem, based on the iteration of a nonlinear map in a bounded subset of the dual space. Our main result is the proof of local convergence of the latter, established as a consequence of the central manifold theorem. Supported by numerical evidence, we conjecture that, in the mentioned bounded set, the convergence is actually global. View full abstract»

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  • Distributed Control in Multiple Dimensions: A Structure Preserving Computational Technique

    Page(s): 516 - 530
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (595 KB) |  | HTML iconHTML  

    We consider the problem of analysis and control of discretely distributed systems in multidimensional arrays. For spatially invariant systems in one spatial dimension, we build an efficient arithmetic that preserves the rational Laurent operator structure, leading to fast iterative methods of solving Lyapunov and Riccati equations and block diagonalizations, and thus arbitrarily non-conservative stability analysis and H2 and H distributed controller synthesis. These one-dimensional results are then used to build an efficient arithmetic and controller synthesis procedure in n-dimensions by induction. The extension of these techniques from Laurent operators with rational symbols to sequentially semi-separable matrices yields a procedure for linear computational complexity analysis and controller synthesis for finite extent heterogeneous multidimensional systems with boundary conditions. The procedures are demonstrated on two computational examples. View full abstract»

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  • Decentralized Parameter Estimation by Consensus Based Stochastic Approximation

    Page(s): 531 - 543
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (667 KB) |  | HTML iconHTML  

    In this paper, an algorithm for decentralized multi-agent estimation of parameters in linear discrete-time regression models is proposed in the form of a combination of local stochastic approximation algorithms and a global consensus strategy. An analysis of the asymptotic properties of the proposed algorithm is presented, taking into account both the multi-agent network structure and the probabilities of getting local measurements and implementing exchange of inter-agent messages. In the case of non-vanishing gains in the stochastic approximation algorithms, an asymptotic estimation error covariance matrix bound is defined as the solution of a Lyapunov-like matrix equation. In the case of asymptotically vanishing gains, the mean-square convergence is proved and the rate of convergence estimated. In the discussion, the problem of additive communication noise is treated in a methodologically consistent way. It is also demonstrated how the consensus scheme in the algorithm can contribute to the overall reduction of measurement noise influence. Some simulation results illustrate the obtained theoretical results. View full abstract»

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  • Edge Agreement: Graph-Theoretic Performance Bounds and Passivity Analysis

    Page(s): 544 - 555
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (510 KB) |  | HTML iconHTML  

    This work explores the properties of the edge variant of the graph Laplacian in the context of the edge agreement problem. We show that the edge Laplacian, and its corresponding agreement protocol, provides a useful perspective on the well-known node agreement, or the consensus algorithm. Specifically, the dynamics induced by the edge Laplacian facilitates a better understanding of the role of certain subgraphs, e.g., cycles and spanning trees, in the original agreement problem. Using the edge Laplacian, we proceed to examine graph-theoretic characterizations of the H2 and H performance for the agreement protocol. These results are subsequently applied in the contexts of optimal sensor placement for consensus-based applications. Finally, the edge Laplacian is employed to provide new insights into the nonlinear extension of linear agreement to agents with passive dynamics. View full abstract»

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  • Robust Model Predictive Control With Integral Sliding Mode in Continuous-Time Sampled-Data Nonlinear Systems

    Page(s): 556 - 570
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (680 KB) |  | HTML iconHTML  

    This paper proposes a control strategy for nonlinear constrained continuous-time uncertain systems which combines robust model predictive control (MPC) with sliding mode control (SMC). In particular, the so-called Integral SMC approach is used to produce a control action aimed to reduce the difference between the nominal predicted dynamics of the closed-loop system and the actual one. In this way, the MPC strategy can be designed on a system with a reduced uncertainty. In order to prove the stability of the overall control scheme, some general regional input-to-state practical stability results for continuous-time systems are proved. View full abstract»

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  • Design and Stability Analysis for Anytime Control via Stochastic Scheduling

    Page(s): 571 - 585
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1116 KB) |  | HTML iconHTML  

    In this paper, we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the execution time allowed for control software tasks is uncertain. In a conservative Hard Real-Time (HRT) design approach, only a control algorithm that (in the worst case) is executable within the minimum time slot guaranteed by the scheduler would be employed. In the spirit of modern Soft Real-Time (SRT) approaches, we consider here an "anytime control" design technique, based on a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring longer execution time. Stochastic models of the scheduler and of algorithm execution times are used to infer probabilities that controllers of different complexity can be executed at different periods. We propose a strategy for choosing among executable controllers, maximizing the usage of higher controllers, which affords better exploitation of the computational platform than the HRT design while guaranteeing stability (in a suitable stochastic sense). Results on the robustness with respect to uncertainties affecting the scheduler model, and on bumpless transfer for tracking problems are also reported. Simulation results on the control of two prototypical mechanical systems show that performance is substantially enhanced by our anytime control technique w.r.t. worst case-based scheduling. View full abstract»

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  • Event-Triggering in Distributed Networked Control Systems

    Page(s): 586 - 601
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (764 KB) |  | HTML iconHTML  

    This paper examines event-triggered data transmission in distributed networked control systems with packet loss and transmission delays. We propose a distributed event-triggering scheme, where a subsystem broadcasts its state information to its neighbors only when the subsystem's local state error exceeds a specified threshold. In this scheme, a subsystem is able to make broadcast decisions using its locally sampled data. It can also locally predict the maximal allowable number of successive data dropouts (MANSD) and the state-based deadlines for transmission delays. Moreover, the designer's selection of the local event for a subsystem only requires information on that individual subsystem. Our analysis applies to both linear and nonlinear subsystems. Designing local events for a nonlinear subsystem requires us to find a controller that ensures that subsystem to be input-to-state stable. For linear subsystems, the design problem becomes a linear matrix inequality feasibility problem. With the assumption that the number of each subsystem's successive data dropouts is less than its MANSD, we show that if the transmission delays are zero, the resulting system is finite-gain Lp stable. If the delays are bounded by given deadlines, the system is asymptotically stable. We also show that those state-based deadlines for transmission delays are always greater than a positive constant. View full abstract»

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  • A Gaussian Mixture Filter for Range-Only Tracking

    Page(s): 602 - 613
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (862 KB) |  | HTML iconHTML  

    Range-only tracking problems arise in extended data collection for inverse synthetic radar applications, robotics, navigation and other areas. For such problems, the conditional density of the state variable given the measurement history is multi-modal or exhibits curvature, even in seemingly benign scenarios. For this reason, the use of extended Kalman filter (EKF) and other nonlinear filtering techniques based on Gaussian approximations can result in inaccurate estimates. We introduce a new filter for such tracking problems in two dimensions called the Gaussian mixture range-only filter (GMROF), which generates Gaussian mixture approximations to the conditional densities. The filter equations are derived by analytic techniques based on the specific nonlinearities of range-only tracking. A slight modification of the standard measurement process model, “noise before nonlinearity,” is used to simplify the moment calculations. Implementation requires, at each step, the fitting of a low order Gaussian mixture to a simple exponentiated trigonometric function of a scalar variable. Simulations involving scenarios from earlier comparative studies indicate that the GMROF consistently outperformed the EKF, and achieved the accuracy of particle filters while significantly reducing the computational cost. View full abstract»

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  • Finite Time Stabilization of a Perturbed Double Integrator—Part I: Continuous Sliding Mode-Based Output Feedback Synthesis

    Page(s): 614 - 618
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (198 KB) |  | HTML iconHTML  

    The twisting and supertwisting algorithms, generating important classes of second order sliding modes (SOSMs), are well-recognized for their finite time stability and robustness properties. In the present paper, a continuous modification of the twisting algorithm and an inhomogeneous perturbation of the supertwisting algorithm are introduced to extend the class of SOSM's that present the afore-mentioned attractive features. Thus modified, the twisting and supertwisting algorithms are utilized in the state feedback synthesis and, respectively, velocity observer design, made for the finite time stabilization of a double integrator if only output measurements are available. Performance and robustness issues of the resulting output feedback synthesis are illustrated by means of numerical simulations. View full abstract»

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  • New Stability Criteria for Linear Discrete-Time Systems With Interval-Like Time-Varying Delays

    Page(s): 619 - 625
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (239 KB) |  | HTML iconHTML  

    This technical note is concerned with stability of linear discrete-time systems with interval-like time-varying delays. Two new stability criteria are derived by constructing a new Lyapunov functional and utilizing two novel techniques for estimating the forward difference of the Lyapunov functional. The relationship between these stability criteria and some existing ones is established. Through the relationship, it is clear that these stability criteria are less conservative than some existing ones, which is confirmed by a numerical example. View full abstract»

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  • A Unified Framework for Bias Compensation Based Methods in Correlated Noise Case

    Page(s): 625 - 629
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (191 KB) |  | HTML iconHTML  

    This technical note presents a unified framework for bias compensation principle (BCP)-based methods applied for identification of linear systems subject to correlated noise. By introducing a non-singular matrix and an auxiliary vector uncorrelated with the noise, the unified framework is established. Since there are rich possibilities of the choices of the introduced matrix and vector, the proposed unified framework is very flexible. It can be verified that the existing BCP-based methods are special cases of the achieved result. It also shows that the unified framework can be used for deriving new or simplified versions of the BCP type methods. View full abstract»

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  • Remarks on “Synchronized Output Regulation of Linear Networked Systems”

    Page(s): 630 - 631
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    This technical note further considers the synchronized output regulation problem of linear networked systems proposed in the paper by Xiang We first make the assumptions of the problem more accurate and present a more straightforward solution for the problem. Then we further point out that, under a different detectability condition, the problem can be solved by a decentralized control scheme. View full abstract»

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  • New Results and Application of Singular Control

    Page(s): 632 - 637
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (228 KB) |  | HTML iconHTML  

    We reconsider the singular control problem with marginal stability of the closed loop system, when the transfer matrix from the input to the output can have linearly dependent columns, and zeros on the extended imaginary axis. We present a new theoretical (existence) result and a new numerical algorithm, based on finding an orthogonal transformation of the matrix pencil associated to the Euler-Lagrange differential equations into a block-triangular form. We present an application in linear quadratic control of descriptor systems, under the constraints of physical realizability of the control and impulse-free and marginally stable closed-loop system. View full abstract»

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  • Compensating the Distributed Effect of Diffusion and Counter-Convection in Multi-Input and Multi-Output LTI Systems

    Page(s): 637 - 643
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (379 KB) |  | HTML iconHTML  

    Compensation of infinite-dimensional input or sensor dynamics in SISO, LTI systems is achieved using the backstepping method. For MIMO, LTI systems with distributed input or sensor dynamics, governed by diffusion with counter-convection, we develop a methodology for constructing control laws and observers that compensate the infinite-dimensional actuator or sensor dynamics. The explicit construction of the compensators are based on novel transformations, which can be considered of “backstepping-forwarding” type, of the finite-dimensional state of the plant and of the infinite-dimensional actuator or sensor states. Based on these transformations we construct explicit Lyapunov functionals which prove exponential stability of the closed-loop system, or convergence of the estimation error in the case of observer design. Finally, we illustrate the effectiveness of our controller with a numerical example. View full abstract»

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  • Sufficient Conditions for Local Asymptotic Stability and Stabilization for Discrete-Time Varying Systems

    Page(s): 643 - 649
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (290 KB) |  | HTML iconHTML  

    The purpose of this paper is to establish sufficient conditions for local asymptotic stability and feedback stabilization for discrete-time systems with time depended dynamics. Our main results constitute generalizations of those developed by same authors in a recent paper, published in same journal, for the case of continuous-time systems. View full abstract»

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  • Consensus Over Numerosity-Constrained Random Networks

    Page(s): 649 - 654
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (306 KB) |  | HTML iconHTML  

    We analyze the discrete-time consensus problem for a group of agents that communicate through a stochastic directed network with fixed out-degree. This network construction models the perceptual phenomenon of numerosity observed in animal groups exhibiting collective behavior. We find necessary and sufficient conditions for mean square consentability of the averaging protocol and we derive a closed form expression for the asymptotic convergence factor. Analytical results are illustrated through simulations. View full abstract»

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  • Lyapunov Stability of Linear Predictor Feedback for Distributed Input Delays

    Page(s): 655 - 660
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (255 KB) |  | HTML iconHTML  

    Compensation of distributed delays in MIMO, LTI systems is achieved using Artstein's reduction method. In this technical note, we construct a Lyapunov functional for the resulting closed-loop system and establish exponential stability. The key element in our work is the introduction of an infinite-dimensional forwarding-backstepping transformation of the infinite-dimensional actuator states. We illustrate the construction of the Lyapunov functional with a detailed example of a single-input system, in which the input is entering through two individual channels with different delays. Finally, we develop an observer equivalent to the predictor feedback design, for the case of distributed sensor delays and prove exponential convergence of the estimation error. View full abstract»

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  • Dissipativity-Based Switching Adaptive Control

    Page(s): 660 - 665
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (311 KB) |  | HTML iconHTML  

    This technical note introduces a new dissipativity-based switching adaptive control strategy for uncertain systems. In this approach, the parametric uncertainties in systems are not considered on continuums but studied on finite discrete sets. Differently to multiple model supervisory control, dissipativity-based switching adaptive control needs no estimation errors for each switching decision. The switching logic is designed based on the relationship between dissipativity/passivity and adaptive systems, such that in the process of switching control, a transient boundary can be guaranteed by appropriately switching the parameter estimates. This makes it possible to apply the strategy for nonlinear systems modeled in local regions in the state space. We also discuss the implementation of the new idea to general dissipative systems and feedback passive systems. An example with simulation is employed to show the effectiveness of the approach. View full abstract»

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  • Equivalence of Linear Time-Delay Systems

    Page(s): 666 - 670
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (178 KB) |  | HTML iconHTML  

    The question of characterizing those time-delay systems which are equivalent (up to bicausal transformations) to a delay-free system is a natural and fundamental problem which has been raised since the early 1980s. Surprisingly, this problem remains largely open despite that some partial answers have been provided. This technical note tackles this problem for linear systems with constant time delays, and gives necessary and sufficient conditions to eliminate, whenever is possible, or to reduce the number of time delays and a constructive way to get the corresponding bicausal change of coordinates. View full abstract»

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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