This paper presents a new simple robust adaptive control method for an unknown plant with an unknown input dead-zone. The design scheme of a robust parallel compensator is proposed and an adaptive robust controller is also given. Simulation results are presented to demonstrate the proposed method.
{"title":"Simple robust adaptive control for structured uncertainty plants with unknown dead-zone","authors":"M. Deng, Hongnian Yu, Z. Iwai","doi":"10.1109/CDC.2001.981133","DOIUrl":"https://doi.org/10.1109/CDC.2001.981133","url":null,"abstract":"This paper presents a new simple robust adaptive control method for an unknown plant with an unknown input dead-zone. The design scheme of a robust parallel compensator is proposed and an adaptive robust controller is also given. Simulation results are presented to demonstrate the proposed method.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115396213","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}
Studies adaptive control of nonlinearly parameterized systems with uncontrollable linearization. Using a parameter separation technique and the tool of adding a power integrator, we develop a feedback domination design approach for the explicit construction of a C/sup /spl infin// adaptive controller which solves the longstanding open problem of global adaptive regulation. A significant feature of our adaptive regulator is its minimal-order property, namely, no matter how big the number of unknown parameters is, the order of the dynamic compensator is identical to one, and is therefore minimal. As an important consequence, global state regulation of feedback linearizable systems with nonlinear parameterization is solved by one-dimensional adaptive controllers, without imposing any convex or concave condition on the parameters.
{"title":"Adaptive control of nonlinearly parameterized systems","authors":"Wei Lin, C. Qian","doi":"10.1109/CDC.2001.980845","DOIUrl":"https://doi.org/10.1109/CDC.2001.980845","url":null,"abstract":"Studies adaptive control of nonlinearly parameterized systems with uncontrollable linearization. Using a parameter separation technique and the tool of adding a power integrator, we develop a feedback domination design approach for the explicit construction of a C/sup /spl infin// adaptive controller which solves the longstanding open problem of global adaptive regulation. A significant feature of our adaptive regulator is its minimal-order property, namely, no matter how big the number of unknown parameters is, the order of the dynamic compensator is identical to one, and is therefore minimal. As an important consequence, global state regulation of feedback linearizable systems with nonlinear parameterization is solved by one-dimensional adaptive controllers, without imposing any convex or concave condition on the parameters.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123039546","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}
This paper considers a class of optimization problems arising from wireless communication systems. We show the existence and uniqueness of the optimal control laws, and the associated Hamilton-Jacobi-Bellman (HJB) equations are investigated. It turns out that the value function is a unique viscosity solution of the HJB equation in a certain function class. The optimization problem with state constraints is also considered.
{"title":"On a class of singular stochastic control problems arising in communications and their viscosity solutions","authors":"Minyi Huang, P. Caines","doi":"10.1109/CDC.2001.981020","DOIUrl":"https://doi.org/10.1109/CDC.2001.981020","url":null,"abstract":"This paper considers a class of optimization problems arising from wireless communication systems. We show the existence and uniqueness of the optimal control laws, and the associated Hamilton-Jacobi-Bellman (HJB) equations are investigated. It turns out that the value function is a unique viscosity solution of the HJB equation in a certain function class. The optimization problem with state constraints is also considered.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114681631","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}
A novel method for analyzing the controller gains and filter time constants of dynamic surface control (DSC) is presented. First, DSC provides linear closed loop error dynamics with bounded perturbation terms for a class of nonlinear systems. This can be used to assign the desired eigenvalues to the system matrix of the error dynamics for the nominal stability. Then, a procedure for testing the stability and performance of the fixed controller in the face of uncertainties is presented. Finally, a feasible quadratic Lyapunov function for a regulation problem and an ellipsoidal approximation of tracking error bounds are obtained via convex optimization.
{"title":"Dynamic surface control design for a class of nonlinear systems","authors":"B. Song, A. Howell, J. Hedrick","doi":"10.1109/CDC.2001.980697","DOIUrl":"https://doi.org/10.1109/CDC.2001.980697","url":null,"abstract":"A novel method for analyzing the controller gains and filter time constants of dynamic surface control (DSC) is presented. First, DSC provides linear closed loop error dynamics with bounded perturbation terms for a class of nonlinear systems. This can be used to assign the desired eigenvalues to the system matrix of the error dynamics for the nominal stability. Then, a procedure for testing the stability and performance of the fixed controller in the face of uncertainties is presented. Finally, a feasible quadratic Lyapunov function for a regulation problem and an ellipsoidal approximation of tracking error bounds are obtained via convex optimization.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117137313","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}
We describe a proposal for the experimental observation and control of quantum dynamics in molecular magnets which uses a magnetic force microscope.
本文提出了一种利用磁力显微镜对分子磁体中的量子动力学进行实验观察和控制的方法。
{"title":"Quantum control of molecular magnets using magnetic force microscopy","authors":"F. Borsa, D. D’Alessandro, L. Miller, M. Salapaka","doi":"10.1109/CDC.2001.980112","DOIUrl":"https://doi.org/10.1109/CDC.2001.980112","url":null,"abstract":"We describe a proposal for the experimental observation and control of quantum dynamics in molecular magnets which uses a magnetic force microscope.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127105070","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}
The proposed approach aims at the development of a systematic method to optimally choose the controller tunable parameters in a nonlinear control system, where in addition to the traditional set of closed-loop performance specifications, optimality is also requested with respect to the physically meaningful quadratic performance index. In particular, the value of the performance index can be calculated exactly by solving the Zubov partial differential equation (PDE). It can be shown that the Zubov PDE admits a unique and locally analytic solution that is endowed with the properties of a Lyapunov function for the closed-loop system. Moreover, the analyticity property of the solution of Zubov PDE enables the development of a series solution method that can be easily implemented with the aid of a symbolic software package. It can be shown that the evaluation of the above Lyapunov function at the initial conditions leads to a direct calculation of the value of the performance index which now explicitly depends on the controller parameters. Therefore, the employment of static optimization techniques can provide the optimal values of the finite-set of controller parameters. Finally, it shown that an explicit estimate of the size of the closed-loop stability region can be provided by using results from the Zubov stability theory.
{"title":"Optimization of quadratic performance indexes for nonlinear control systems","authors":"N. Kazantzis, C. Kravaris, R. A. Wright","doi":"10.1109/CDC.2001.980690","DOIUrl":"https://doi.org/10.1109/CDC.2001.980690","url":null,"abstract":"The proposed approach aims at the development of a systematic method to optimally choose the controller tunable parameters in a nonlinear control system, where in addition to the traditional set of closed-loop performance specifications, optimality is also requested with respect to the physically meaningful quadratic performance index. In particular, the value of the performance index can be calculated exactly by solving the Zubov partial differential equation (PDE). It can be shown that the Zubov PDE admits a unique and locally analytic solution that is endowed with the properties of a Lyapunov function for the closed-loop system. Moreover, the analyticity property of the solution of Zubov PDE enables the development of a series solution method that can be easily implemented with the aid of a symbolic software package. It can be shown that the evaluation of the above Lyapunov function at the initial conditions leads to a direct calculation of the value of the performance index which now explicitly depends on the controller parameters. Therefore, the employment of static optimization techniques can provide the optimal values of the finite-set of controller parameters. Finally, it shown that an explicit estimate of the size of the closed-loop stability region can be provided by using results from the Zubov stability theory.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127348847","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}
Polling a roaming mobile user in a cellular network to determine its location is called paging and it requires the use of limited wireless resources. We formulate the paging problem as an optimal sequential search problem for a Markovian target and show that the resulting problem is an instance of a Partially Observed Stochastic Shortest Path (POSSP) problem. Using the theory of POSSP problems, we propose optimal and suboptimal paging algorithms with performance bounds. We then propose a scalable sequential paging architecture for paging multiple mobile stations simultaneously using a finite number of paging resources.
{"title":"Partially observed stochastic shortest path problem - application to sequential paging in cellular networks","authors":"Sumeetpal S. Singh, V. Krishnamurthy","doi":"10.1109/CDC.2001.981024","DOIUrl":"https://doi.org/10.1109/CDC.2001.981024","url":null,"abstract":"Polling a roaming mobile user in a cellular network to determine its location is called paging and it requires the use of limited wireless resources. We formulate the paging problem as an optimal sequential search problem for a Markovian target and show that the resulting problem is an instance of a Partially Observed Stochastic Shortest Path (POSSP) problem. Using the theory of POSSP problems, we propose optimal and suboptimal paging algorithms with performance bounds. We then propose a scalable sequential paging architecture for paging multiple mobile stations simultaneously using a finite number of paging resources.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127433250","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}
A novel approach to stabilization and trajectory tracking for nonlinear systems with unknown parameters and uncertain disturbances is developed. We take a drastic departure from the classical adaptive control approach consisting of a parameterized feedback law and an identifier, which tries to minimize a tracking (or prediction) error. Instead, we propose a simple nonlinear PI structure that generates a stable error equation with a perturbation function that exhibits at least one root. This root is made all attractive equilibrium by suitably adjusting the nonlinear PI gains. We consider the two basic problems of: (i) matched uncertainties, when the uncertain terms are in the image of the input matrix, and (ii) unknown control directions, when the control signal is multiplied by a gain of unknown sign.
{"title":"Nonlinear PI control of uncertain systems: an alternative to parameter adaptation","authors":"R. Ortega, A. Astolfi, N. Barabanov","doi":"10.1109/CDC.2001.981155","DOIUrl":"https://doi.org/10.1109/CDC.2001.981155","url":null,"abstract":"A novel approach to stabilization and trajectory tracking for nonlinear systems with unknown parameters and uncertain disturbances is developed. We take a drastic departure from the classical adaptive control approach consisting of a parameterized feedback law and an identifier, which tries to minimize a tracking (or prediction) error. Instead, we propose a simple nonlinear PI structure that generates a stable error equation with a perturbation function that exhibits at least one root. This root is made all attractive equilibrium by suitably adjusting the nonlinear PI gains. We consider the two basic problems of: (i) matched uncertainties, when the uncertain terms are in the image of the input matrix, and (ii) unknown control directions, when the control signal is multiplied by a gain of unknown sign.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127488628","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}
In this work, a general class of continuous-time uncertain nonlinear systems with integral quadratic constraints is considered. A full-order nonlinear state observer design is presented for various error performance criteria in a unified framework. These performance criteria include guaranteed-cost suboptimal versions of estimation objectives like H/sub 2/, H/sub /spl infin//, passivity, etc. The design of nonlinear state observers that satisfy these criteria are given using a common matrix inequality formulation.
{"title":"LMI based observer design for nonlinear systems with integral quadratic constraints","authors":"E. Yaz, Y. I. Yaz","doi":"10.1109/CDC.2001.980725","DOIUrl":"https://doi.org/10.1109/CDC.2001.980725","url":null,"abstract":"In this work, a general class of continuous-time uncertain nonlinear systems with integral quadratic constraints is considered. A full-order nonlinear state observer design is presented for various error performance criteria in a unified framework. These performance criteria include guaranteed-cost suboptimal versions of estimation objectives like H/sub 2/, H/sub /spl infin//, passivity, etc. The design of nonlinear state observers that satisfy these criteria are given using a common matrix inequality formulation.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125088048","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}
This paper studies the optimal tracking performance for linear time-invariant single-input multi-output (SIMO) systems responding to a step reference signal. An integral square error criterion is used as the measure of the tracking performance. First, a formula of the tracking error is derived for stable multivariable systems, which is applicable to both right-invertible and non-right-invertible cases. Then, explicit expressions of the tracking error for SIMO systems are developed. The results show that, together with the nonminimum phase zeros and unstable poles of the plant, the variation of the plant direction with frequency also contributes to the tracking difficulty in SIMO systems.
{"title":"Optimal tracking performance for SIMO systems","authors":"Gang Chen, Jie Chen, R. Middleton","doi":"10.1109/CDC.2001.980978","DOIUrl":"https://doi.org/10.1109/CDC.2001.980978","url":null,"abstract":"This paper studies the optimal tracking performance for linear time-invariant single-input multi-output (SIMO) systems responding to a step reference signal. An integral square error criterion is used as the measure of the tracking performance. First, a formula of the tracking error is derived for stable multivariable systems, which is applicable to both right-invertible and non-right-invertible cases. Then, explicit expressions of the tracking error for SIMO systems are developed. The results show that, together with the nonminimum phase zeros and unstable poles of the plant, the variation of the plant direction with frequency also contributes to the tracking difficulty in SIMO systems.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125164644","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}
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