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IEEE Transactions on Automatic Control

Issue 6 • Jun 1994

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Displaying Results 1 - 25 of 36
  • Global regulation of flexible joint robots using approximate differentiation

    Publication Year: 1994, Page(s):1222 - 1224
    Cited by:  Papers (87)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (268 KB)

    Tomei (1991) presented a globally asymptotically stable PD regulator for robots with flexible joints. A drawback of this scheme is that, as is well known, noise in velocity measurements degrades performance, and numerical differentiation is inaccurate for low and high speeds. On the other hand, approximate differentiation, replacing the derivative operator p by the high pass filter (bp/p+a), is co... View full abstract»

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  • The optimal multicopy Aloha

    Publication Year: 1994, Page(s):1233 - 1236
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (296 KB)

    Multicopy Aloha is a generalization of single-copy Aloha where multiple copies of a packet are transmitted without first learning whether the transmission of the first copy is successful or not. Different users in the system can transmit different number of copies. But the optimal multicopy policy is found to be of the “pure” type whereby all users transmit the same number of copies. T... View full abstract»

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  • A robust algorithm for random parameter tracking

    Publication Year: 1994, Page(s):1211 - 1221
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    An algorithm for tracking time-varying parameters is studied. It is shown to be exponentially stable independently of the choice of algorithm parameters. We derive some useful nonasymptotic estimates for the tracking error and develop the asymptotically optimal version of the method View full abstract»

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  • Steady-state behavior in the vibrational control of a class of nonlinear systems by AP-forcing

    Publication Year: 1994, Page(s):1255 - 1258
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (276 KB)

    Vibrational control is an open-loop control technique that uses zero mean parametric vibrations for shaping the response of a linear or nonlinear dynamical system. Several theoretical results are available, based on averaging techniques, assuring the possibility of modifying the equilibrium properties of a system. For nonlinear systems, computational difficulties arise and theoretical results cann... View full abstract»

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  • Extended horizon liftings for stable inversion of nonminimum-phase systems

    Publication Year: 1994, Page(s):1333 - 1338
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    The lifting of Lozano (1989) is generalized and shown to be one in a large class of liftings which enjoy the same zero annihilation properties (i.e., placement of transmission zeros to the origin). The new class of liftings allows for longer horizons and leads to plant-inverse controllers for nonminimum-phase systems having significantly reduced control gains and peak torque requirements View full abstract»

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  • Robust control of robot manipulators with parametric uncertainty

    Publication Year: 1994, Page(s):1230 - 1233
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    This paper proposes a robust control law for n-link robot manipulators with parametric uncertainty whose upper bound is not assumed to be known. The proposed robust control based on the Corless-Leitmann approach includes a simple estimation law for the upper bound on the parametric uncertainty and an additional control input to be updated as a function of the estimated value. Using the Lyapunov st... View full abstract»

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  • Efficient algorithm for a class of least squares estimation problems

    Publication Year: 1994, Page(s):1241 - 1243
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    A computationally efficient algorithm for solving least squares estimation problems is proposed. It is well suited for problems with the normal equation matrix factorizable in terms of Kronecker's products. Three classes of identification problems factorizable in this sense are pointed out. Computational complexity of the algorithm and its robustness against round off errors is also discussed View full abstract»

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  • Stability analysis of linear systems with time delay

    Publication Year: 1994, Page(s):1341 - 1344
    Cited by:  Papers (28)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    This paper presents asymptotic stability criteria for linear systems with time delay. The results not only improve previous results, but also provide a bound for the delay time such that if the system is asymptotically stable when the delay does not exist, it retains the asymptotic stability when the delay time is within the bound View full abstract»

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  • Numerical solution of the discrete-time periodic Riccati equation

    Publication Year: 1994, Page(s):1197 - 1210
    Cited by:  Papers (90)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1008 KB)

    In this paper we present a method for the computation of the periodic nonnegative definite stabilizing solution of the periodic Riccati equation. This method simultaneously triangularizes by orthogonal equivalences a sequence of matrices associated with a cyclic pencil formulation related to the Euler-Lagrange difference equations. In doing so, it is possible to extract a basis for the stable defl... View full abstract»

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  • Stabilization of oscillations by a nonnegative feedback control

    Publication Year: 1994, Page(s):1273 - 1276
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (356 KB)

    The feedback stabilization of m-dimensional nonlinear systems is studied in this note. The Jacobian is assumed to possess 2q purely imaginary eigenvalues and m-2q eigenvalues with negative real parts. The feedback control law is assumed to be nonnegative and given by the square of a linear function. The direct and indirect control systems are investigated. In both cases stabilizability is proved a... View full abstract»

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  • A cyclic switching strategy for parameter-adaptive control

    Publication Year: 1994, Page(s):1172 - 1183
    Cited by:  Papers (60)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1024 KB)

    This paper introduces a new strategy, called “cyclic switching,” to deal with the well-known certainty equivalence control synthesis problem which arises in the design of identifier-based adaptive controllers because of the existence of points in parameter space where the design model ΣD, upon which certainty equivalence synthesis is based, loses stabilizability. Unlik... View full abstract»

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  • On relaxation algorithms in computation of noncooperative equilibria

    Publication Year: 1994, Page(s):1263 - 1267
    Cited by:  Papers (64)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    This paper considers a special class of numerical algorithms, the so-called relaxation algorithm, for Nash equilibrium points in noncooperative games. The relaxation algorithms have been studied by various authors for the deterministic case. Convergence conditions of this algorithm are based on fixed point theorems. For example, Basar (1987) and Li and Basar (1987) have proved its convergence for ... View full abstract»

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  • Necessary and sufficient conditions for the Hurwitz and Schur stability of interval matrices

    Publication Year: 1994, Page(s):1251 - 1255
    Cited by:  Papers (65)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    Establishes a set of new sufficient conditions for the Hurwitz and Schur stability of interval matrices. The authors use these results to establish necessary and sufficient conditions for the Hurwitz and Schur stability of interval matrices. The authors relate the above results to the existence of quadratic Lyapunov functions for linear time-invariant systems with interval-valued coefficient matri... View full abstract»

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  • Coordinating locomotion and manipulation of a mobile manipulator

    Publication Year: 1994, Page(s):1326 - 1332
    Cited by:  Papers (174)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    A mobile manipulator in this study is a manipulator mounted on a mobile platform. Assuming the end point of the manipulator is guided, e.g., by a human operator to follow an arbitrary trajectory, it is desirable that the mobile platform is able to move as to position the manipulator in certain preferred configurations. Since the motion of the manipulator is unknown a priori, the platform has to us... View full abstract»

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  • Adaptively controlling nonlinear continuous-time systems using multilayer neural networks

    Publication Year: 1994, Page(s):1306 - 1310
    Cited by:  Papers (199)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    Multilayer neural networks are used in a nonlinear adaptive control problem. The plant is an unknown feedback-linearizable continuous-time system. The control law is defined in terms of the neural network models of system nonlinearities to control the plant to track a reference command. The network parameters are updated online according to a gradient learning rule with dead zone. A local converge... View full abstract»

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  • Stabilizing controller design for linear systems with sensor or actuator failures

    Publication Year: 1994, Page(s):1224 - 1230
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    In this paper, the stability of the standard linear, time-invariant, multi-input multi-output unity-feedback system is investigated in the presence of either sensor or actuator failures. Any diagonal stable perturbation is included in the failure descriptions. Stabilizing controllers are synthesized for two failure classes: the first class allows at most one failure at a time; the second class req... View full abstract»

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  • Integrated probabilistic data association

    Publication Year: 1994, Page(s):1237 - 1241
    Cited by:  Papers (197)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    This paper presents an integrated probabilistic data association algorithm which provides recursive formulas for both data association and track quality (probability of track existence), allowing track initiation and track termination to be fully integrated into the association and smoothing algorithm. Integrated probabilistic data association is of similar computational complexity to probabilisti... View full abstract»

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  • Optimal mixed sensitivity for SISO-distributed plants

    Publication Year: 1994, Page(s):1150 - 1165
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1152 KB)

    The authors extend previous results for the single-input/single-output (SISO) mixed sensitivity problem for distributed parameter systems to a more general setting in which the transfer function of the plant to be controlled has both irrational stable and irrational unstable parts. These developments were originally motivated by the computation of the infimal H-norm of the weight... View full abstract»

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  • Discrete-time compensators with loop transfer recovery

    Publication Year: 1994, Page(s):1259 - 1262
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    Loop transfer recovery (LTR) has gained some prominence over the last years. In this paper, the authors briefly overview the main design features of the LQG/LTR controller both at the input and at the output of the plant, using the delta operator formulation developed in Middleton and Goodwin (1990). Two discrete-time compensators with LTR capability are then derived following the LTR design appro... View full abstract»

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  • Disturbance decoupled observer design: a unified viewpoint

    Publication Year: 1994, Page(s):1338 - 1341
    Cited by:  Papers (88)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    This paper is concerned with the observer design for linear systems with unknown inputs. An equivalent system, which is free of unknown inputs, is derived for the purpose of the observer design. Based on the equivalent system description, one can design an observer (full order, reduced order, minimal order or functional) for linear systems with unknown inputs using well-known techniques. It is sho... View full abstract»

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  • Resource optimal control in some single-machine scheduling problems

    Publication Year: 1994, Page(s):1243 - 1246
    Cited by:  Papers (50)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    We consider a problem to schedule a set of jobs on a single machine under the constraint that the maximum job completion time does not exceed a given limit. Before a job is released for processing, it must undergo some preprocessing treatment which consumes resources. It is assumed that the release time of a job is a positive strictly decreasing continuous function of the amount of resources consu... View full abstract»

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  • System identification using Kautz models

    Publication Year: 1994, Page(s):1276 - 1282
    Cited by:  Papers (159)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    In this paper, the problem of approximating a linear time-invariant stable system by a finite weighted sum of given exponentials is considered. System identification schemes using Laguerre models are extended and generalized to Kautz models, which correspond to representations using several different possible complex exponentials. In particular, linear regression methods to estimate this sort of m... View full abstract»

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  • Identification of alternating renewal electric load models from energy measurements

    Publication Year: 1994, Page(s):1184 - 1196
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1052 KB)

    In statistical load modeling methodologies, aggregate electric load behavior is derived by propagating the ensemble statistics of an individual load process which is representative of the loads in the aggregate. Such a modeling philosophy tends to yield models whereby if physical meaning is present at the elemental level, it is preserved at the aggregate level. This property is essential for appli... View full abstract»

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  • An algorithm for computing value sets of uncertain transfer functions in factored real form

    Publication Year: 1994, Page(s):1268 - 1273
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    An algorithm is given for the fast computation of the value sets of uncertain transfer functions, including parametric uncertainty in factored real form and multiplicative unstructured uncertainty. The uncertain parameters are assumed to belong to compact intervals. Elementary value sets are computed for each factor. Vector addition and edge detection in the logarithmic complex plane are used to c... View full abstract»

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  • Robust Kalman filtering for uncertain discrete-time systems

    Publication Year: 1994, Page(s):1310 - 1314
    Cited by:  Papers (251)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    This paper is concerned with the problem of a Kalman filter design for uncertain discrete-time systems. The system under consideration is subjected to time-varying norm-bounded parameter uncertainty in both the state and output matrices. The problem addressed is the design of a linear filter such that the variance of the filtering error is guaranteed to be within a certain bound for all admissible... 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