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IEEE Transactions on Automatic Control

Issue 6 • Date Jun 1994

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Displaying Results 1 - 25 of 36
  • Robust Kalman filtering for uncertain discrete-time systems

    Publication Year: 1994, Page(s):1310 - 1314
    Cited by:  Papers (119)
    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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  • Adaptive tracking for a class of feedback linearizable systems

    Publication Year: 1994, Page(s):1314 - 1319
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    A state feedback control is presented which achieves asymptotic tracking of signals generated by a known exosystem for single-input single-output nonlinear systems with unknown parameters entering linearly. The following assumptions are required: the nominal system is feedback linearizable; the tracking dynamics are not affected by unknown parameters; the linear approximation of the zero dynamics ... View full abstract»

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  • The nonlinear interactor and its application to input-output decoupling

    Publication Year: 1994, Page(s):1246 - 1250
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    The solvability of the input-output decoupling problem via pure dynamic state feedback, a special type of dynamic compensator without zeros at infinity, is investigated. A necessary and sufficient condition for the solvability of this problem is established in terms of a nonlinear interactor, a new concept in the theory of nonlinear control 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 (106)
    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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  • The optimal multicopy Aloha

    Publication Year: 1994, Page(s):1233 - 1236
    Cited by:  Papers (8)
    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 counterexample on continuous coprime factors

    Publication Year: 1994, Page(s):1262 - 1263
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (164 KB)

    In Georgiou and Smith (1992), the following question was raised: Consider a linear, shift-invariant system on L2[0, ∞). Let the graph of the system have Fourier transform (MN)H2 (i.e., the system has a transfer function P=N/M) where M, N are elements of CA={f∈H: f is continuous on the compactified right-half plane}. Is it possible to no... 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 (18)
    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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  • Efficient algorithm for a class of least squares estimation problems

    Publication Year: 1994, Page(s):1241 - 1243
    Cited by:  Papers (2)
    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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  • Optimal mixed sensitivity for SISO-distributed plants

    Publication Year: 1994, Page(s):1150 - 1165
    Cited by:  Papers (9)
    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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  • Stabilizing controller design for linear systems with sensor or actuator failures

    Publication Year: 1994, Page(s):1224 - 1230
    Cited by:  Papers (5)
    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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  • H2-optimal zeros

    Publication Year: 1994, Page(s):1298 - 1301
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (316 KB)

    Although the problem of pole placement has received enormous attention, the problem of zero placement has been relatively neglected. The latter, however, could be of substantial importance in some design problems, such as actuators and sensors positioning. In this paper, the authors characterize the zeros that ensure H2-optimality of transfer functions and analyze qualitative properties... View full abstract»

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  • H control of systems under norm bounded uncertainties in all system matrices

    Publication Year: 1994, Page(s):1320 - 1322
    Cited by:  Papers (41)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (240 KB)

    This paper concerns H control of systems under norm bounded uncertainties in all the system matrices. This is an extension of the work by Xie et al.(1992), where only the A matrix is allowed to be uncertain. It is found that the problem shares the same formulation with the H control problem for systems without uncertainties. It can also be viewed as reducing the... 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 (9)
    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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  • Discrete-time compensators with loop transfer recovery

    Publication Year: 1994, Page(s):1259 - 1262
    Cited by:  Papers (3)
    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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  • System identification using Kautz models

    Publication Year: 1994, Page(s):1276 - 1282
    Cited by:  Papers (82)  |  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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  • Robust control of robot manipulators with parametric uncertainty

    Publication Year: 1994, Page(s):1230 - 1233
    Cited by:  Papers (8)
    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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  • An algorithm for computing value sets of uncertain transfer functions in factored real form

    Publication Year: 1994, Page(s):1268 - 1273
    Cited by:  Papers (14)
    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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  • A ripple free sampled-data robust servomechanism controller using exponential hold

    Publication Year: 1994, Page(s):1287 - 1291
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    In a general command tracking and disturbance rejection problem, it is known that a sampled-data controller using zero-order hold may only guarantee the asymptotic tracking at the sampling instances, but cannot smooth out the ripples between the sampling instances. In this paper, a sampled-data robust servomechanism controller using exponential hold is developed for guaranteeing the asymptotic tra... View full abstract»

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  • An input normal form homotopy for the L2 optimal model order reduction problem

    Publication Year: 1994, Page(s):1302 - 1305
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    In control system analysis and design, finding a reduced-order model, optimal in the L2 sense, to a given system model is a fundamental problem. The problem is very difficult without the global convergence of homotopy methods, and a homotopy based approach has been proposed. The issues are the number of degrees of freedom, the well posedness of the finite dimensional optimization proble... View full abstract»

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  • Process control and machine learning: rule-based incremental control

    Publication Year: 1994, Page(s):1166 - 1171
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (604 KB)

    In this paper, we discuss a rule-based incremental control program which has been used for controlling a laser cutting robot and in simulation for driving a car on a track, for a car parking manoeuvre, or for parking a truck with one trailer. The core of the paper concerns a learning program, Candide, which learns to control a process without a priori knowledge about the process, by observing rand... 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 (29)
    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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  • Resource optimal control in some single-machine scheduling problems

    Publication Year: 1994, Page(s):1243 - 1246
    Cited by:  Papers (6)
    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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  • Identification of alternating renewal electric load models from energy measurements

    Publication Year: 1994, Page(s):1184 - 1196
    Cited by:  Papers (6)
    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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  • Modified extended Kalman filtering

    Publication Year: 1994, Page(s):1322 - 1326
    Cited by:  Papers (10)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    In this paper we compare the performance of the extended Kalman filter (EKF) with that of a proposed filter called modified extended Kalman filter (MEKF), in terms of the actual state and the estimated state as a function of time and the integral-squared error as a function of noise intensity both for dynamics and measurement noise. All the simulation results indicate that the performance of the M... View full abstract»

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  • Disturbance decoupled observer design: a unified viewpoint

    Publication Year: 1994, Page(s):1338 - 1341
    Cited by:  Papers (48)
    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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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