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Automatic Control, IEEE Transactions on

Issue 12 • Date December 1987

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Displaying Results 1 - 25 of 30
  • [Front cover and table of contents]

    Publication Year: 1987 , Page(s): 0
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    Freely Available from IEEE
  • Scanning the issue

    Publication Year: 1987 , Page(s): 1041
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  • Editorial: Basic research, manufacturing automation, and putting the cart before the horse

    Publication Year: 1987 , Page(s): 1042 - 1043
    Cited by:  Papers (5)
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  • Comments on "A multivariable generalized self-tuning controller with decoupling design"

    Publication Year: 1987 , Page(s): 1127 - 1128
    Cited by:  Papers (1)
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    The weighting matrices used in the paper for nonminimum phase systems appear to lead to cancellation of the process zeros. View full abstract»

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  • Correction to "Combined routing and flow control in computer-communication networks: A two-level adaptive scheme"

    Publication Year: 1987 , Page(s): 1128
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    First Page of the Article
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  • Authors' reply

    Publication Year: 1987 , Page(s): 1128
    Cited by:  Papers (1)
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    First Page of the Article
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  • A course in H∞control theory [Book reviews]

    Publication Year: 1987 , Page(s): 1144 - 1145
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    This book offers a stimulating introduction to linear control theory with an H-optimality criterion. The general problem dealt with in the book, called the ??standard problem,?? consists of designing a controller which minimizes the H,-norm of a tixed closed-loop transfer matrix. The H norm of a transfer matrix is the maximum over all frequencies of its largest singular value. Under suitable hypotheses, the construction of nearly optimal solutions is clearly described. The systems considered are all linear, time-invariant, and finite-dimensional, and they evolve in continuous time. By limiting the discussion to the essential details, Francis?? book succeeds in giving a clear picture of a rather involved subject. A reader with a good command of linear system theory and an elementary knowledge of the language of operator theory will find it a good introduction to the H area. To the more experienced reader, or to the aspiring researcher in this field, the book can also be useful to point out those aspects of the theory which still need to be developed. View full abstract»

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  • [Back cover]

    Publication Year: 1987 , Page(s): 0
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  • Internal persistency of excitation in indirect adaptive control

    Publication Year: 1987 , Page(s): 1101 - 1103
    Cited by:  Papers (2)
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    Transient signals between parameter updating can be used to generate internal persistency of excitation (PE) conditions in adaptive control problems. In particular, this fact can be advantageous in indirect adaptive control in order to prevent the estimated plant from converging to nonstabilizable models. View full abstract»

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  • Adaptive weighted suboptimal control for linear dynamic systems having a polynomial input

    Publication Year: 1987 , Page(s): 1106 - 1110
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (424 KB)  

    Introducing a cost term on the highest power of the nonlinear polynomial, we derive a simple direct adaptive control weighted suboptimal control algorithm which is very useful for the control of all stable nonminimum-phase and some unstable nonminimum-phase linear systems having a polynomial input. Both stochastic and deterministic situations are considered and the global convergence of the proposed algorithm has been established. View full abstract»

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  • On time-invariant realizations of discrete random processes

    Publication Year: 1987 , Page(s): 1125 - 1127
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    A class of discrete second-order random processes, described by linear time-invariant state-space models, is investigated. Equivalent realizations with reduced number of noise inputs are presented. In contrast to the innovations approach these realizations have time-invariant parameters. View full abstract»

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  • Directional interpolation approach to H-Optimization and robust stabilization

    Publication Year: 1987 , Page(s): 1085 - 1093
    Cited by:  Papers (12)
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    It is shown that, under a mild condition, H\infty -optimization and robust stabilization are equivalent to a directional interpolation problem which is a matrix extension of the classical Pick-Nevanlinna interpolation problem. A classical iterative method, which is an extension of the Schur-Nevanlinna algorithm, is given for solving the problem. This method does not require the inner-outer factorization nor the balanced realization of the original plant. A circuit theoretical parameterization of all solutions is derived that is expected to enhance the physical insight to the H\infty -optimal control and robust stabilization. This parameterization has the degree much less than the one obtained previously. View full abstract»

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  • A method to estimate the parameters of an ARMA model

    Publication Year: 1987 , Page(s): 1113 - 1115
    Cited by:  Papers (7)
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    A method of estimating the parameters of an ARMA model is proposed. In the transient case, we show that the formulas recently given by Li and Dickinson [7] for the AR parameters are easily obtained by considering the formulation of the one-step predictor. In the steady-state case, we can get separately the AR parameters and the MA ones. View full abstract»

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  • Robust trajectory planning for robotic manipulators under payload uncertainties

    Publication Year: 1987 , Page(s): 1044 - 1054
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (944 KB)  

    A number of trajectory planning algorithms are available for determining the joint torques, positions, and velocities required to move a manipulator along a given geometric path in minimum time. These schemes require knowledge of the robot's dynamics, which in turn depend upon the characteristics of the payload which the robot is carrying. In practice, the dynamic properties of the payload will not be known exactly, so that the dynamics of the robot, and hence the required joint torques, must be calculated for a nominal set of payload characteristics. But since these trajectory planners generate nominal joint torques which are at the limits of the robot's capabilities, moving the robot along the desired geometric path at speeds calculated for the nominal payload may require torques which exceed the robot's capabilities. In this paper, bounds on joint torque uncertainties are derived in terms of payload uncertainties. Using these bounds, a new trajectory planner is developed to incorporate payload uncertainties such that all the trajectories generated can be realized with given joint torques. Finally, the trajectory planner is applied to the first three joints of the Bendix PACS arm, a cylindrical robot to demonstrate its use and power. View full abstract»

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  • On Akaike's model-fit criterion

    Publication Year: 1987 , Page(s): 1100 - 1101
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    An intuitive derivation of the Akaike model-fit criterion is given. View full abstract»

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  • A simple formula for optimal ARMAX predictors

    Publication Year: 1987 , Page(s): 1115 - 1116
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    The coefficients of the optimal steady-state k -step ahead predictor for a scalar ARMAX process in general depend on k . It is shown that a simple formula completely characterizes all these coefficients. This extends previous results on the characterization of ARMA predictors. View full abstract»

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  • Periodic tracking adaptive control for multivariable systems having more outputs than inputs

    Publication Year: 1987 , Page(s): 1120 - 1123
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (352 KB)  

    This note presents an adaptive control algorithm for multivariable systems in which the number of outputs is greater than the number of inputs. The algorithm can force the outputs to track arbitrary given reference signals periodically. This is the best tracking performance for systems lacking output function controllability. It has been shown that the tracking period is the upper bound on the controllability index of the controlled system. The proposed algorithm is applicable to multivariable systems with arbitrary interactor matrix but no knowledge of the interactor matrix is required. View full abstract»

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  • Robust static and dynamic output-feedback stabilization: Deterministic and stochastic perspectives

    Publication Year: 1987 , Page(s): 1076 - 1084
    Cited by:  Papers (40)
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    Three parallel gaps in robust feedback control theory are examined: sufficiency versus necessity, deterministic versus stochastic uncertainty modeling, and stability versus performance. Deterministic and stochastic output-feedback control problems are considered with both static and dynamic controllers. The static and dynamic robust stabilization problems involve deterministically modeled bounded but unknown measurable time-varying parameter variations, while the static and dynamic stochastic optimal control problems feature state-, control-, and measurement-dependent white noise. General sufficiency conditions for the deterministic problems are obtained using Lyapunov's direct method, while necessary conditions for the stochastic problems are derived as a consequence of minimizing a quadratic performance criterion. The sufficiency tests are then applied to the necessary conditions to determine when solutions of the stochastic optimization problems also solve the deterministic robust stability problems. As an additional application of the deterministic result, the modified Riccati equation approach of Petersen and Hollot is generalized in the static case and extended to dynamic compensation. View full abstract»

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  • State and parameter estimation for robotic manipulators using force measurements

    Publication Year: 1987 , Page(s): 1055 - 1066
    Cited by:  Papers (29)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (992 KB)  

    The need to equip robotic systems with a high degree of dexterity and adaptability to a wide range of precise manipulation tusks has given rise to increasing interest in the utilization of various sensing modalities, including force and tactile sensing. In this paper a general framework is proposed for incorporating both a priori task geometry information and on-line observations, including force measurements, into an optimal estimation algorithm. The output of the algorithm is state and parameter estimates that serve to disambiguate the task geometry and can be used to dynamically adapt subsequent motions. The problem is formulated us a nonlinear constrained dynamical system, including Coulomb friction between the system and the constraints. The constraint surface is described with respect to some unknown parameters representing the geometric uncertainty. The noisy on-line state and force observations are expressed as functions of the state and surface parameters. The extended Kalman filter is then used to produce optimal estimates of the state and surface parameters. View full abstract»

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  • Remarks on persistency of excitation for nonminimal models of systems having purely deterministic disturbances

    Publication Year: 1987 , Page(s): 1123 - 1125
    Cited by:  Papers (1)
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    A persistency of excitation result for nonminimal models of systems having purely deterministic disturbances has been given recently in [1]. In this note we give a direct and simple proof for the case of bounded signals of the result of [1] and show, via a counterexample, that an assumption on system signals boundedness which does not appear in [1] is necessary when arbitrary unbounded signals are allowable. Finally, we give a proper persistency of excitation result which does not require signal boundedness for the case when the system input consists of a bounded external signal and of a constant coefficient feedback component. View full abstract»

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  • Robust stabilization in an observer-controller feedback system under nonlinear time-varying perturbations or unmodeled dynamics

    Publication Year: 1987 , Page(s): 1131 - 1135
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (456 KB)  

    In this note a new robust criterion is proposed to analyze multivariable observer-controller compensator feedback systems under additive nonlinear perturbations. In order to stabilize these systems, a more general parameterized observer-controller compensator is introduced, and a design algorithm is proposed for robust stabilization against the nonlinear perturbations. Finally, an example is given to illustrate our results. View full abstract»

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  • On adaptive control of stochastic bilinear systems

    Publication Year: 1987 , Page(s): 1103 - 1106
    Cited by:  Papers (9)
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    The minimum variance control law for bilinear systems with known parameters is shown to yield in most cases controls with infinite variance; this calls into question the use of the so-called bilinear self-tuning regulators. An adaptive weighted minimum variance controller based upon the cost with weighted control efforts is suggested for first-order bilinear systems and is shown to yield boundedness of the closed-loop system variables under a certain condition on the parameter estimate. View full abstract»

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  • The optimal projection equations for static and dynamic output feedback: The singular case

    Publication Year: 1987 , Page(s): 1139 - 1143
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (392 KB)  

    Oblique projections have been shown to arise naturally in both static and dynamic optimal design problems. For static controllers an oblique projection was inherent in the early work of Levine and Athans, while for dynamic controllers an oblique projection was developed by Hyland and Bernstein. This note is motivated by the following natural question: What is the relationship between the oblique projection arising in optimal static output feedback and the oblique projection arising in optimal fixed-order dynamic compensation? We show that in nonstrictly proper optimal output feedback there are, indeed, three distinct oblique projections corresponding to singular measurement noise, singular control weighting, and reduced compensator order. Moreover, we unify the Levine-Athans and Hyland-Bernstein approaches by rederiving the optimal projection equations for combined static/dynamic (nonstrictly proper) output feedback in a form which clearly illustrates the role of the three projections in characterizing the optimal feedback gains. Even when the dynamic component of the nonstrictly proper controller is of full order, the controller is characterized by four matrix equations which generalize the standard LQG result. View full abstract»

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  • Optimal sensor location for detecting changes in dynamical behavior

    Publication Year: 1987 , Page(s): 1067 - 1075
    Cited by:  Papers (13)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (792 KB)  

    We address the problem of optimal sensor location for monitoring the eigenstructure of a multivariable dynamical system. The criterions which are optimized are the power of new tests designed for detecting and diagnosing changes in the eigencharacteristics of a system [3], [12]. The key points are the choice of the parameterization for computing the criterion and the comparison of designs with a different number of sensors. The discussion of the numerical results for sensor location includes the analysis of the effect of the geometry of the unknown excitation. View full abstract»

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  • The optimal projection equations for reduced-order state estimation: The singular measurement noise case

    Publication Year: 1987 , Page(s): 1135 - 1139
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (456 KB)  

    The optimal projection equations for reduced-order state estimation are generalized to allow for singular (i.e., colored) measurement noise. The noisy and noise-free measurements serve as inputs to dynamic and static estimators, respectively. The optimal solution is characterized by necessary conditions which involve a pair of oblique projections corresponding to reduced estimator order and singular measurement noise intensity. 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