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IEEE Transactions on Automatic Control

Issue 1 • Jan. 1994

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Displaying Results 1 - 25 of 44
  • Comments on "Force/motion control of constrained robots using sliding mode"

    Publication Year: 1994
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (116 KB)

    In Su, Leung, and Zhou (1992), the authors attempt to use sliding mode control for the simultaneous position and force control of a constrained robot manipulator. They assert that their control law, along with inclusion of the constraint force error in the definition of the sliding surface, produces asymptotically stable force tracking error. However, a separate force control law must be defined a... View full abstract»

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  • Two and a half degrees of freedom LQG controller and application to wind turbines

    Publication Year: 1994, Page(s):122 - 127
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    The 2½ degrees of freedom structure considered has been used in real applications for many years but it has not been shown to follow from the solution of an H2 optimal control problem. A Kucera type of polynomial solution is presented which provides a theoretical basis for the structure adopted. The proposed controller structure has the advantage that low frequency tracking prope... View full abstract»

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  • Memoryless H controllers for state delayed systems

    Publication Year: 1994, Page(s):159 - 162
    Cited by:  Papers (143)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    In this note, a memoryless H∞ controller for the state delayed system is presented. The controller is a delay independent stabilizer for the state delayed system, which also reduces the H∞ norm of the closed loop transfer function, from the disturbance to the controlled output, to a prescribed level. The controller can be obtained by solving a modified Riccati equ... View full abstract»

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  • On statistical sampling for system testing

    Publication Year: 1994, Page(s):118 - 122
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    In this note, the theory of locally asymptotically normal experiments is used to test hypotheses about the parameters of a controlled, linear stochastic system. The tests are formulated for both continuous and sampled observations of the input and the output. For the sampled observations, a constant bias property for a quadratic variation estimate of the local variance parameters of the noise is v... View full abstract»

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  • Robust tracking control for rigid robotic manipulators

    Publication Year: 1994, Page(s):154 - 159
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    The problem of robust tracking control using a nominal feedback controller and a variable structure compensator for a rigid robotic manipulator with uncertain dynamics is addressed in this note. It is shown that the effects of large system uncertainties can be eliminated and asymptotic convergence of the output tracking error can be guaranteed by using a variable structure compensator in the close... View full abstract»

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  • An optimal algorithm for sampled-data robust servomechanism controller using exponential hold

    Publication Year: 1994, Page(s):112 - 117
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    A new structure of sampled-data robust servomechanism controller using exponential hold is developed. An optimal algorithm is also proposed for choosing the controller parameters of two important special classes. The algorithm is derived by minimizing a square-error performance index, and the solution can be solved from a discrete-time algebraic Riccati equation View full abstract»

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  • Closed-loop hyperstability of interval plants

    Publication Year: 1994, Page(s):151 - 154
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    This note examines the conditions for robust bounded-input bounded-output closed-loop stability of interval plants when there is a nonlinear element in the feedback path. Specifically, the authors present the robust generalized circle criterion and Popov's criterion View full abstract»

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  • Sampled-data observers with generalized holds for unstable plants

    Publication Year: 1994, Page(s):229 - 234
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    Optimality conditions are derived for reduced-order sampled-data estimation satisfying an observation constraint that involves a prespecified, possibly unstable, subspace of the system dynamics. It is shown that a generalized hold device possessing a time-varying exponential intersample profile is essential in order to account for the unstable dynamics. In particular, it is shown that with a conti... View full abstract»

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  • Robust linear quadratic designs with real parameter uncertainty

    Publication Year: 1994, Page(s):107 - 111
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (428 KB)

    This note derives a linear quadratic regulator which is robust to real parametric uncertainty, by using the overbounding method of Petersen and Hollot (1986). The resulting controller is determined from the solution of a single modified Riccati equation. This controller has the same guaranteed robustness properties as standard linear quadratic designs for known systems. It is proven that when appl... View full abstract»

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  • A note on stability and stabilizability of neutral systems

    Publication Year: 1994, Page(s):138 - 143
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (496 KB)

    This note presents frequency-domain characterizations of exponential stability and stabilizability of neutral systems based on transfer-function matrices and the existence of `nice' solutions of certain Bezout equations. It turns out that the existence of H∞-solutions is not sufficient for exponential stabilizability, but that they have to satisfy an additional growth assumption a... View full abstract»

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  • Transient bounds for adaptive control systems

    Publication Year: 1994, Page(s):171 - 175
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB)

    Adaptive control systems are essentially nonlinear and mechanisms to analyze their stability and transient response typically derive from more general nonlinear theories such as small gain arguments or passivity. In this note, we consider how these theories may be applied to adaptive control to quantify transient response. This involves the explicit description of the constants appearing in the pa... View full abstract»

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  • Control of vibrational systems

    Publication Year: 1994, Page(s):222 - 226
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    Vibrational systems, characterized by their second-order or “spring-mass” nature, occur throughout engineering. Examples range from lightly damped structures, such as the proposed space station, to regional power system models. While the study of such vibrational systems has a long and rich history, concern has traditionally focused on the properties of passive, uncontrolled systems. T... View full abstract»

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  • Stabilization of linear time-invariant interval systems via constant state feedback control

    Publication Year: 1994, Page(s):22 - 32
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    This paper investigates the stabilization problem of linear uncertain systems via constant state feedback control. The systems under consideration contain time-invariant uncertain parameters whose values are unknown but bounded in given compact sets and are thus called interval systems. The criterion for the asymptotic stability of the closed-loop system, obtained when a state feedback control is ... View full abstract»

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  • A globally convergent adaptive controller for robot manipulators

    Publication Year: 1994, Page(s):148 - 151
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (264 KB)

    In this work, a globally convergent adaptive scheme is developed for controlling robot manipulators. Asymptotic behavior of the tracking error is established using the properties of the robot dynamics. A modified version of the controller which employs the filtered torque in its update law is also shown to have the same convergence properties View full abstract»

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  • Robust performance of systems with affine parameter uncertainty and convex analysis

    Publication Year: 1994, Page(s):227 - 229
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (240 KB)

    In this note, we consider SISO plant families with affine parameter uncertainties in the numerator and denominator of their transfer function. It is assumed that the controller has been chosen, and a bound on sensitivity is given. For a nominal plant satisfying the performance criteria we provide a formula for the maximal allowable perturbations of the parameters maintaining the performance criter... View full abstract»

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  • On test horizon for model validation by output error

    Publication Year: 1994, Page(s):102 - 106
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    We derive necessary and sufficient conditions under which the parameters of the model are identical to those of the true system which is supposed to be linear and of finite dimension. These conditions are that the cross-correlations between the output error and the input as well as the model output should be asymptotically null in a finite horizon. This horizon may be used as a minimum necessary t... View full abstract»

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  • Losslessness, feedback equivalence, and the global stabilization of discrete-time nonlinear systems

    Publication Year: 1994, Page(s):83 - 98
    Cited by:  Papers (132)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1228 KB)

    In this paper a necessary and sufficient condition for a nonlinear system of the form Σ, given by x(k+1)=f(x(k))+g(x(k))u(k), y(k)=h(x(k))+J(x(k))u(k), to be lossless is given, and it is shown that a lossless system can be globally asymptotically stabilized by output feedback if and only if the system is zero-state observable. Then, we investigate conditions under which Σ can be render... View full abstract»

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  • An alternate numerical solution to the linear quadratic problem

    Publication Year: 1994, Page(s):198 - 202
    Cited by:  Papers (39)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    This note proposes a new method, based on convex programming, for solving the linear quadratic problem (LQP) directly on the parameter space generated by the feedback control gain. All stabilizing controllers are mapped into a convex set; the problem is then formulated as a minimization of a linear function over this convex set. Its optimal solution furnishes, under certain conditions, the same fe... View full abstract»

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  • Nonquadratic Lyapunov functions for robust stability analysis of linear uncertain systems

    Publication Year: 1994, Page(s):135 - 138
    Cited by:  Papers (86)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB)

    In this note, we derive conditions of existence of a homogeneous polynomial Lyapunov function of an arbitrary even degree establishing global asymptotic stability of linear system with box-bounded uncertainty. Verification of these conditions is reduced to solving a convex minimization problem. We produce numerical examples that demonstrate significant improvement in estimates of admissible uncert... View full abstract»

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  • Construction of optimal Lyapunov function for systems with structured uncertainties

    Publication Year: 1994, Page(s):167 - 171
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    The robust stability problem for nominally linear system with nonlinear, time-varying structured perturbations pj, j=1,...,q, is considered. The system is of the form x˙=ANx+qΣj=1pjA jx. When Lyapunov direct method is utilized to solve the problem, usually some quadratic form is chosen as a Lyapunov function. The note pres... View full abstract»

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  • Decentralized stabilization of large scale interconnected systems with delays

    Publication Year: 1994, Page(s):180 - 182
    Cited by:  Papers (82)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (244 KB)

    In this note, we study the decentralized stabilization problem of linear, time-invariant, large scale interconnected systems with delays without any assumption of system structure. Our main result here is the sufficient condition for the decentralized stabilization. One application of the procedures to the decentralized observers is also presented View full abstract»

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  • Adaptive control of plants with unknown dead-zones

    Publication Year: 1994, Page(s):59 - 68
    Cited by:  Papers (214)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (764 KB)

    Model reference adaptive controllers are designed for plants with unknown dead-zones. Several control strategies are investigated in which two sets of adjustable parameters, one belonging to a dead-zone inverse and the other to a linear controller, are either kept fixed or adaptively updated. The developed adaptive control schemes ensure boundedness of all closed-loop signals and reduce the tracki... View full abstract»

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  • On statistical properties of a test for model structure selection using the extended instrumental variable approach

    Publication Year: 1994, Page(s):211 - 215
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    A procedure for structural estimation using the extended instrumental variable technique is presented. The statistical distribution of the test quantity is obtained in the white noise case. A criterion is defined by introducing a penalty term on the decreasing rate (with the number of parameters) of the proposed test quantity. The consistency of the estimate is proven. Monte Carlo simulations are ... View full abstract»

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  • A regulator stabilization technique: Kumar-Seidman revisited

    Publication Year: 1994, Page(s):191 - 196
    Cited by:  Papers (34)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    We discuss the stability of a class of models applicable to manufacturing systems consisting of several machines, producing many types of parts, sharing resources, under dynamical decentralized scheduling. Kumar and Seidman (ibid., vol. 35, no. 3, p. 289-98, 1990) have shown the role of “cycles” of material flow as a source of instability, presented sufficient conditions for stability ... View full abstract»

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  • Designing stabilizing control of uncertain systems by quasiconvex optimization

    Publication Year: 1994, Page(s):127 - 131
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (364 KB)

    The design of stabilizing linear output feedback control of uncertain systems is a computationally demanding optimization problem as local minima may exist which are distinct from the global minimum. However, in some special cases, quasiconvexity can be proven through a simple redefinition of variables and/or a reformulation of the problem in the dual form. Such special cases include state feedbac... 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