IEEE Transactions on Automatic Control

Volume 39 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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  • 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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  • Some new bounds for the spectral radius

    Publication Year: 1994, Page(s):196 - 198
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (216 KB)

    Some bounds are derived for the spectral radius of a given matrix in terms of its Hermitian and skew-Hermitian parts. New matrix numbers are defined and some of their properties are proposed 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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  • Linear-quadratic zero-sum differential games for generalized state space systems

    Publication Year: 1994, Page(s):143 - 147
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (324 KB)

    In this note, we consider linear-quadratic zero-sum differential games for generalized state space systems. It is well known that a unique linear feedback saddle-point solution can exist in the game of state space systems. However, for the generalized state space system, we show that the game admits uncountably many linear feedback saddle-point solutions. Sufficient conditions for the existence of... 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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  • Robust performance of systems with affine parameter uncertainty and convex analysis

    Publication Year: 1994, Page(s):227 - 229
    Cited by:  Papers (2)
    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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  • A note on stability and stabilizability of neutral systems

    Publication Year: 1994, Page(s):138 - 143
    Cited by:  Papers (12)
    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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  • 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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  • Adaptive stabilization of bilinear systems

    Publication Year: 1994, Page(s):207 - 211
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    For a class of deterministic and stochastic bilinear systems, “modified self-tuning regulators” are given by using recursive least-squares and modified recursive least-squares, respectively. The closed-loop systems are shown globally stable and asymptotically optimal in some sense without any restriction on location of poles or zeros of nominal linear part of the open-loop system consi... 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 (148)
    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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  • Nonquadratic Lyapunov functions for robust stability analysis of linear uncertain systems

    Publication Year: 1994, Page(s):135 - 138
    Cited by:  Papers (91)
    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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  • 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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  • Two and a half degrees of freedom LQG controller and application to wind turbines

    Publication Year: 1994, Page(s):122 - 127
    Cited by:  Papers (26)
    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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  • 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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  • Robust tracking control for rigid robotic manipulators

    Publication Year: 1994, Page(s):154 - 159
    Cited by:  Papers (33)
    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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  • Robust stability of uncertain linear systems with saturating actuators

    Publication Year: 1994, Page(s):202 - 207
    Cited by:  Papers (29)
    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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  • 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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  • Control of vibrational systems

    Publication Year: 1994, Page(s):222 - 226
    Cited by:  Papers (2)
    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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  • Analysis and design of I/O based variable structure adaptive control

    Publication Year: 1994, Page(s):4 - 21
    Cited by:  Papers (108)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1512 KB)

    This paper presents an overview of a technique for the design of variable structure model reference adaptive control (VS-MRAC) systems, using only input-output data. The main ideas underlying the design and the analysis, as well as the main properties of the controller, are described having as point of departure a well known parameter adaptive MRAC scheme. Then, asymptotic properties of the VS-MRA... 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 (7)
    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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  • Guardian map approach to robust stability of linear systems with constant real parameter uncertainty

    Publication Year: 1994, Page(s):162 - 164
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (264 KB)

    New sufficient conditions are derived for stability robustness of linear time-invariant state-space systems with constant real parameter uncertainty. These bounds are obtained by applying a guardian map to the uncertain system matrices. Since this approach is only valid for constant real parameter uncertainty, these bounds do not imply quadratic stability, which guarantees robust stability with re... 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 (139)  |  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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  • Adaptive control of plants with unknown dead-zones

    Publication Year: 1994, Page(s):59 - 68
    Cited by:  Papers (234)  |  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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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