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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  • Numerical nonlinear regulator design

    Publication Year: 1994, Page(s):33 - 46
    Cited by:  Papers (33)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1116 KB)

    This paper considers the state regulation problem for nonlinear plants P with initial conditions in a prespecified region G. A computer implementable algorithm is presented, which is theoretically ensured to yield a practically asymptotically stabilizing feedback controller from G, if one exists. Since the plant P is represented by a discrete time mapping, which is only assumed to be continuous, t... View full abstract»

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  • Variable structure control design for uncertain discrete-time systems

    Publication Year: 1994, Page(s):99 - 102
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (316 KB)

    The main differences between the designs of discrete-time variable structure systems (VSS) and continuous-time VSS are the determination of the switching hyperplane and the satisfaction of the hitting/sliding condition. These differences yield many difficulties in the design of sliding mode control for the discrete-time VSS. This note tries to overcome these difficulties and design a simple slidin... View full abstract»

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  • On positively invariant sets for discrete-time linear systems with disturbance: an application of maximal disturbance sets

    Publication Year: 1994, Page(s):245 - 249
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    This note concerns the investigation of maximal sets, with respect to which a set is positively invariant, and, given a set a, some properties of Δ-p.i. sets are analyzed. The approach uses one step of the backward recursion introduced in d'Alessandro and De Santis (1991), where feasibility and optimality conditions for linear dynamical input and/or state constrained systems were analyzed. I... 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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  • Stability of asynchronous systems with Poisson transitions

    Publication Year: 1994, Page(s):182 - 185
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    We consider the stability of an asynchronous system modeled as a collection of coupled processes with independent Poisson state transitions. Using Lyapunov functions, sufficient conditions for both mean square and almost sure convergence independent of state transition rates are developed for the linear case, and weaker transition rate dependent conditions are derived for the linear and nonlinear ... 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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  • Stabilization of trajectories for systems with nonholonomic constraints

    Publication Year: 1994, Page(s):216 - 222
    Cited by:  Papers (137)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known that such systems cannot be stabilized to a point using smooth static-state feedback. In this note, we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajectory, the note gives an explicit con... 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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  • 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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  • 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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  • 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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  • 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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  • Displacement structure approach to singular root distribution problems: the unit circle case

    Publication Year: 1994, Page(s):238 - 245
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (636 KB)

    A general theory of tabular form root distribution procedures based on LDL* factorization of Bezoutians is presented. In particular, the authors concentrate on the singular cases arising in the Schur-Cohn test. A one-to-one correspondence is established between the rank profile of the underlying Bezoutians and the occurrence of the singular cases. Combining this interpretation with the newly devel... 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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  • Robust stability of uncertain linear systems with saturating actuators

    Publication Year: 1994, Page(s):202 - 207
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    We consider the robust stability of uncertain linear systems with saturating actuators, and present two sufficient conditions to guarantee the stability of the closed loop system. We assume that the bound of the initial state is known and that the uncertainty is unstructured. The obtained results meet our intuition that the lower bound of initial state and the higher bound of saturation level make... 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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  • Adaptive pole placement without excitation probing signals

    Publication Year: 1994, Page(s):47 - 58
    Cited by:  Papers (67)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (848 KB)

    This paper presents an indirect adaptive control scheme for linear systems which may possibly be a nonminimum phase. The control scheme achieves asymptotical pole placement without either introducing persistent excitation probing signals into the systems or assuming any a priori knowledge on the plant parameters. The system order is the only a priori knowledge required on the plant. The adaptive c... 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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  • Exponential linear quadratic optimal control with discounting

    Publication Year: 1994, Page(s):175 - 178
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB)

    A direct derivation of the solution of the discounted exponential linear quadratic Gaussian optimal control problem is presented. Some extensions to partial observations problems are also given. The solution involves time-varying Riccati equations, providing an example of an infinite horizon, constant coefficient, regulator problem with a time-varying optimal control 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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  • Disturbance rejection of left-invertible generalized state space systems

    Publication Year: 1994, Page(s):185 - 190
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    A new approach is presented for the study of the disturbance rejection of left-invertible generalized state space systems via pure proportional state feedback, reducing the problem to that of solving a linear algebraic system of equations. On the basis of this system of equations, the necessary and sufficient conditions for the problem to have a solution are established in a form of simple algebra... 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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  • 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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  • Positiveness of dynamic systems with nonpositive coefficient matrices

    Publication Year: 1994, Page(s):131 - 134
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    This note gives a dynamical solution for linear dynamical feasibility problems, and applies this result to a generalization of the concept of positive systems. More specifically, we require the existence of a positive state and/or output evolution for any initial state in a given set. We give conditions for various sets of initial states. Finally, by means of an example, we illustrate our results 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