Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099669
Dimitrios P. Iracleous, A. Alexandridis
This paper discusses the problem of the stability bounds for structured parameter uncertainties of continuous-time linear systems. An improved condition is obtained which provides a robust stability criterion based on both the eigenstructure of the original system and the structure of the expected uncertainties. As examined by the illustrative examples this condition enhances the interval of the permissible uncertainties which do not affect the stability of the system.
{"title":"Improved robustness bounds for systems perturbed by structured uncertainties","authors":"Dimitrios P. Iracleous, A. Alexandridis","doi":"10.23919/ECC.1999.7099669","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099669","url":null,"abstract":"This paper discusses the problem of the stability bounds for structured parameter uncertainties of continuous-time linear systems. An improved condition is obtained which provides a robust stability criterion based on both the eigenstructure of the original system and the structure of the expected uncertainties. As examined by the illustrative examples this condition enhances the interval of the permissible uncertainties which do not affect the stability of the system.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"253 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122637762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099507
X. Claeys, C. Canudas-de-Wit, H. Bechart
The paper presents a model and a control law for the steering actuator used in heavy duty vehicles. These results are pertaining to applications where new automatic vehicle features (i.e. lateral control) are to be designed. We first present a physical model of the steering actuator including: mechanic flexibilities, non linearities of the hydraulic power system, and tire-road contact friction forces. Then, we present some possible control designs seeking to improve the actuator performance, while using as less as possible information about the system.
{"title":"Modeling and control of steering actuator for heavy duty vehicles","authors":"X. Claeys, C. Canudas-de-Wit, H. Bechart","doi":"10.23919/ECC.1999.7099507","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099507","url":null,"abstract":"The paper presents a model and a control law for the steering actuator used in heavy duty vehicles. These results are pertaining to applications where new automatic vehicle features (i.e. lateral control) are to be designed. We first present a physical model of the steering actuator including: mechanic flexibilities, non linearities of the hydraulic power system, and tire-road contact friction forces. Then, we present some possible control designs seeking to improve the actuator performance, while using as less as possible information about the system.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"2 34-35","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114044254","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099428
C. Bianco, A. Piazzi
In this paper an optimal trajectory planning problem for industrial multi-link robots is considered. Using a cubic polynomial joint interpolation scheme, a minimum time trajectory under torque constraints is planned via a global optimization algorithm proposed by the authors. This proposed optimization method takes into account a rigid-link full dynamics model. Numerical results for a two-link arm, related to a 10 knots trajectory, are reported.
{"title":"A genetic/interval approach to optimal trajectory planning of industrial robots under torque constraints","authors":"C. Bianco, A. Piazzi","doi":"10.23919/ECC.1999.7099428","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099428","url":null,"abstract":"In this paper an optimal trajectory planning problem for industrial multi-link robots is considered. Using a cubic polynomial joint interpolation scheme, a minimum time trajectory under torque constraints is planned via a global optimization algorithm proposed by the authors. This proposed optimization method takes into account a rigid-link full dynamics model. Numerical results for a two-link arm, related to a 10 knots trajectory, are reported.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114147678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7100057
S. Hedlund, M. Johansson
This paper reports the development of a Matlab toolbox for computational analysis of piecewise linear systems. The analysis is based on piecewise quadratic Lyapunov functions, which are computed via convex optimization. In this way, exponential stability and system performance can be assessed. The toolbox also supports efficient simulation of systems with discontinuous dynamics and sliding modes. A set of intuitive commands for describing piecewise linear systems is included, making the analysis routines easily accessible also for the inexperienced user.
{"title":"A toolbox for computational analysis of piecewise linear systems","authors":"S. Hedlund, M. Johansson","doi":"10.23919/ECC.1999.7100057","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100057","url":null,"abstract":"This paper reports the development of a Matlab toolbox for computational analysis of piecewise linear systems. The analysis is based on piecewise quadratic Lyapunov functions, which are computed via convex optimization. In this way, exponential stability and system performance can be assessed. The toolbox also supports efficient simulation of systems with discontinuous dynamics and sliding modes. A set of intuitive commands for describing piecewise linear systems is included, making the analysis routines easily accessible also for the inexperienced user.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114570080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099291
Masakazu Suzuki
In this article proposed is a method of robot behavior evolution using a knowledge array network. The knowledge array network is formed by organically connecting knowledge arrays which are used in the Intelligent Composite Motion Control (ICMC) to store and utilize the empirical knowledge and adapt to inexperienced situations. The ICMC is a methodology to build up robot systems in which robots can realize complex and dexterous behaviors autonomously and adaptively based upon parameter optimization and utilization of empirical knowledge only if the motion control for fundamental element motions is given. After reviewing the ICMC and the array operations, presented is the framework of behavior evolution. It is shown how the behavior evolution from primitive motions to complicated tasks is realized, that is, it is shown how the dexterous ball throwing with robotic manipulator, for example, is coordinated from simple joint rotations.
{"title":"Robot behavior evolution using knowledge array network","authors":"Masakazu Suzuki","doi":"10.23919/ECC.1999.7099291","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099291","url":null,"abstract":"In this article proposed is a method of robot behavior evolution using a knowledge array network. The knowledge array network is formed by organically connecting knowledge arrays which are used in the Intelligent Composite Motion Control (ICMC) to store and utilize the empirical knowledge and adapt to inexperienced situations. The ICMC is a methodology to build up robot systems in which robots can realize complex and dexterous behaviors autonomously and adaptively based upon parameter optimization and utilization of empirical knowledge only if the motion control for fundamental element motions is given. After reviewing the ICMC and the array operations, presented is the framework of behavior evolution. It is shown how the behavior evolution from primitive motions to complicated tasks is realized, that is, it is shown how the dexterous ball throwing with robotic manipulator, for example, is coordinated from simple joint rotations.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121894116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099429
Giuseppe Scafati, A. D. Carli, L. Onofri
In this memory the ASIC tool (Ambient of Interactive Development of the Controller) is introduced. The software has been realised with the objective to supply an instrument for the aided synthesis of complex control systems. It is based on the polynomial approach of the direct synthesis and takes advantage of a number of properties of a particular class of polynomials: the Lipatov's polynomials. ASIC reduces the intrinsic complexity of a strategy like the direct synthesis, taking advantage of the potentialities of the MatLab™ platform and using the rules of the Lipatov's polynomials in order to offer a powerful and effective instrument also for who is not expert of innovative control strategies.
{"title":"An interactive environment for robust control systems guided synthesis","authors":"Giuseppe Scafati, A. D. Carli, L. Onofri","doi":"10.23919/ECC.1999.7099429","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099429","url":null,"abstract":"In this memory the ASIC tool (Ambient of Interactive Development of the Controller) is introduced. The software has been realised with the objective to supply an instrument for the aided synthesis of complex control systems. It is based on the polynomial approach of the direct synthesis and takes advantage of a number of properties of a particular class of polynomials: the Lipatov's polynomials. ASIC reduces the intrinsic complexity of a strategy like the direct synthesis, taking advantage of the potentialities of the MatLab™ platform and using the rules of the Lipatov's polynomials in order to offer a powerful and effective instrument also for who is not expert of innovative control strategies.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122151315","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099886
B. Bandyopadhyay, H. Unbehauen
This paper presents a method of reduction for interval system. The denominator of the reduced model is obtained by using the concept of interlacing property of even and odd polynomials of the system denominator. The numerator of the reduced model is obtained by matching interval time moments. A numerical example illustrates the procedure.
{"title":"Interval system reduction using Kharitonov polynomials","authors":"B. Bandyopadhyay, H. Unbehauen","doi":"10.23919/ECC.1999.7099886","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099886","url":null,"abstract":"This paper presents a method of reduction for interval system. The denominator of the reduced model is obtained by using the concept of interlacing property of even and odd polynomials of the system denominator. The numerator of the reduced model is obtained by matching interval time moments. A numerical example illustrates the procedure.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128426897","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099470
V. Tsachouridis, I. Postlethwaite
An algorithm for the numerical solution of an important algebraic matrix equation in control system design is developed. It is based on ideas arising from probability-1 homotopy methods, for the solution of algebraic systems of equations. The specialisation of this matrix equation into the algebraic Riccati matrix equation for continuous time systems is discussed. The proposed algorithm can be used to solve the optimal projection equations appearing in a reduced order compensator synthesis problem and in an anti-windup compensator synthesis problem. In addition, solutions to second order algebraic matrix polynomial equations are successfully obtained as solutions to special forms of the equation in question. Numerical examples show the advantage of the proposed method over other algorithms.
{"title":"An algorithm for the numerical solution of an important algebraic matrix equation in control system design","authors":"V. Tsachouridis, I. Postlethwaite","doi":"10.23919/ECC.1999.7099470","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099470","url":null,"abstract":"An algorithm for the numerical solution of an important algebraic matrix equation in control system design is developed. It is based on ideas arising from probability-1 homotopy methods, for the solution of algebraic systems of equations. The specialisation of this matrix equation into the algebraic Riccati matrix equation for continuous time systems is discussed. The proposed algorithm can be used to solve the optimal projection equations appearing in a reduced order compensator synthesis problem and in an anti-windup compensator synthesis problem. In addition, solutions to second order algebraic matrix polynomial equations are successfully obtained as solutions to special forms of the equation in question. Numerical examples show the advantage of the proposed method over other algorithms.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129027270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099675
M. Hermle, W. Schiehlen
A hierarchical control for flexible manipulators is presented in this paper. The equations of motion are derived using the miltibody system method. Exploiting the structure of the dynamic model, the control concept allows to combine any given joint level control for the gross motion of the manipulator with a decentralized linear control of the elastic deformation of each flexible link. In order to verify the control strategy proposed, a SCARA robot with one flexible link is considered.
{"title":"Hierarchical control of flexible robots","authors":"M. Hermle, W. Schiehlen","doi":"10.23919/ECC.1999.7099675","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099675","url":null,"abstract":"A hierarchical control for flexible manipulators is presented in this paper. The equations of motion are derived using the miltibody system method. Exploiting the structure of the dynamic model, the control concept allows to combine any given joint level control for the gross motion of the manipulator with a decentralized linear control of the elastic deformation of each flexible link. In order to verify the control strategy proposed, a SCARA robot with one flexible link is considered.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129330887","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099515
G. Chesi, A. Tesi, A. Vicino, R. Genesio
This paper considers the problem of determining the minimum euclidean distance of a point from a polynomial surface in Rn. It is well known that this problem is in general non-convex. The main purpose of the paper is to investigate to what extent Linear Matrix Inequality (LMI) techniques can be exploited for solving this problem. The first result of the paper shows that a lower bound to the global minimum can be achieved via the solution of a one-parameter family of Linear Matrix Inequalities (LMIs). It is also pointed out that for some classes of problems the solution of a single LMI problem provides the lower bound. The second result concerns the tightness of the bound. It is shown that optimality of the lower bound can be easily checked via the solution of a system of linear equations. Two application examples are finally presented to show potentialities of the approach.
{"title":"On convexification of some minimum distance problems","authors":"G. Chesi, A. Tesi, A. Vicino, R. Genesio","doi":"10.23919/ECC.1999.7099515","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099515","url":null,"abstract":"This paper considers the problem of determining the minimum euclidean distance of a point from a polynomial surface in Rn. It is well known that this problem is in general non-convex. The main purpose of the paper is to investigate to what extent Linear Matrix Inequality (LMI) techniques can be exploited for solving this problem. The first result of the paper shows that a lower bound to the global minimum can be achieved via the solution of a one-parameter family of Linear Matrix Inequalities (LMIs). It is also pointed out that for some classes of problems the solution of a single LMI problem provides the lower bound. The second result concerns the tightness of the bound. It is shown that optimality of the lower bound can be easily checked via the solution of a system of linear equations. Two application examples are finally presented to show potentialities of the approach.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129669106","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：