This paper presents a new mechanical analogy of power systems for energy-based system analysis based on an equivalent mechanical model (EMM). The EMM is developed on the basis of mechanical analogy of power system by using spring connected rod-inertia system. The proposed EMM introduces an imaginary spring for the analogical correspondence to the transfer conductance of a transmission line with discussion of its energy storage properties. The imaginary spring produces its forces acting on the both ends perpendicular to its displacement vector. The rod-inertia system is completely analyzed in order to show that it has just the same dynamic equations as the power system. The proposed EMM provides theoretical background for energy-based analysis of power systems, which enables us to utilize well-known theories such as Lagrange's equation.
{"title":"Equivalent mechanical model of power systems for energy-based system analysis","authors":"Y. Moon, H. Ryu, Jong-Gi Lee, H. Kook","doi":"10.1109/CDC.2001.980144","DOIUrl":"https://doi.org/10.1109/CDC.2001.980144","url":null,"abstract":"This paper presents a new mechanical analogy of power systems for energy-based system analysis based on an equivalent mechanical model (EMM). The EMM is developed on the basis of mechanical analogy of power system by using spring connected rod-inertia system. The proposed EMM introduces an imaginary spring for the analogical correspondence to the transfer conductance of a transmission line with discussion of its energy storage properties. The imaginary spring produces its forces acting on the both ends perpendicular to its displacement vector. The rod-inertia system is completely analyzed in order to show that it has just the same dynamic equations as the power system. The proposed EMM provides theoretical background for energy-based analysis of power systems, which enables us to utilize well-known theories such as Lagrange's equation.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"91 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":"115220175","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 investigates a robot motion control problem with visual information. First, the model of the relative rigid body motion and the nonlinear observer are shown in order to derive the visual feedback system. Next, a design algorithm for the 3D visual feedback control problem which contains the manipulator dynamics are considered. Finally, we discuss the stability and L/sub 2/-gain performance analysis for the 3D visual feedback system which contains the manipulator dynamics. The L/sub 2/-gain performance analysis can be regarded as a tracking performance measure for the moving target object.
{"title":"Stability and tracking performance of dynamic visual feedback control for nonlinear mechanical systems","authors":"A. Maruyama, H. Kawai, M. Fujita","doi":"10.1109/CDC.2001.980897","DOIUrl":"https://doi.org/10.1109/CDC.2001.980897","url":null,"abstract":"This paper investigates a robot motion control problem with visual information. First, the model of the relative rigid body motion and the nonlinear observer are shown in order to derive the visual feedback system. Next, a design algorithm for the 3D visual feedback control problem which contains the manipulator dynamics are considered. Finally, we discuss the stability and L/sub 2/-gain performance analysis for the 3D visual feedback system which contains the manipulator dynamics. The L/sub 2/-gain performance analysis can be regarded as a tracking performance measure for the moving target object.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"43 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":"116400150","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 paper is concerned with the formulation of a continuous-time quantum-mechanical filter. In a previous paper (Ong et al., 1984), the invertibility of a quantum system coupled to a weak time-dependent classical field was studied. The physical system is modeled as an infinite-dimensional bilinear system. Necessary and sufficient conditions of invertibility were derived under the assumption that the output observable is a quantum nondemolition observable (QNDO), characterized by the classical property that its expected value is equal to its measured value. In this paper necessary and sufficient conditions are developed for an observable to qualify as a QNDO; if in addition the criteria for invertibility are met, the given observable defines a quantum nondemolition filter (QNDF). The associated filtering algorithm thus separates cleanly into the choice of output observable (a QNDO) and the choice of procedure for processing the measurement outcomes. This approach has the advantage over previous schemes that no optimization is necessary. Applications to demodulation of optical signals and to the detection and monitoring of gravitational waves are envisioned.
本文讨论了一个连续时间量子力学滤波器的公式。在之前的一篇论文(Ong et al.， 1984)中，研究了耦合于弱时相关经典场的量子系统的可逆性。物理系统被建模为一个无限维双线性系统。假设输出观测值为量子非拆除观测值(QNDO)，具有期望值等于实测值的经典性质，推导了可逆性的充分必要条件。本文给出了观测值作为QNDO的充分必要条件;另外，如果满足可逆性的条件，则给定的观测值定义了一个量子不拆除滤波器(QNDF)。相关的过滤算法因此被清晰地分为输出可观察(QNDO)的选择和处理测量结果的过程的选择。与以前的方案相比，这种方法的优点是不需要进行优化。应用于光信号的解调和引力波的探测和监测的设想。
{"title":"Nondemolition filters for quantum systems","authors":"J. W. Clark, T. Tarn","doi":"10.1109/CDC.2001.980114","DOIUrl":"https://doi.org/10.1109/CDC.2001.980114","url":null,"abstract":"The paper is concerned with the formulation of a continuous-time quantum-mechanical filter. In a previous paper (Ong et al., 1984), the invertibility of a quantum system coupled to a weak time-dependent classical field was studied. The physical system is modeled as an infinite-dimensional bilinear system. Necessary and sufficient conditions of invertibility were derived under the assumption that the output observable is a quantum nondemolition observable (QNDO), characterized by the classical property that its expected value is equal to its measured value. In this paper necessary and sufficient conditions are developed for an observable to qualify as a QNDO; if in addition the criteria for invertibility are met, the given observable defines a quantum nondemolition filter (QNDF). The associated filtering algorithm thus separates cleanly into the choice of output observable (a QNDO) and the choice of procedure for processing the measurement outcomes. This approach has the advantage over previous schemes that no optimization is necessary. Applications to demodulation of optical signals and to the detection and monitoring of gravitational waves are envisioned.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"30 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":"122764304","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 evolutionary algorithm called atomic metaphor optimization strategy (AMOS) is proposed, which is designed for real-time analog optimization problems. This new evolutionary algorithm is integrated with the continuous time adaptive observer algorithm based on the Lyapunov stability theory, developed for classes of approximating functions with linear parametrization. The combined hybrid algorithm is applied to the online modeling of continuous-time nonlinear systems, via a nonlinearly parametrized neural approximation of the system dynamics.
{"title":"AMOS-a new hybrid evolutionary algorithm for continuous time systems","authors":"G. L. Santosuosso","doi":"10.1109/CDC.2001.980988","DOIUrl":"https://doi.org/10.1109/CDC.2001.980988","url":null,"abstract":"A novel evolutionary algorithm called atomic metaphor optimization strategy (AMOS) is proposed, which is designed for real-time analog optimization problems. This new evolutionary algorithm is integrated with the continuous time adaptive observer algorithm based on the Lyapunov stability theory, developed for classes of approximating functions with linear parametrization. The combined hybrid algorithm is applied to the online modeling of continuous-time nonlinear systems, via a nonlinearly parametrized neural approximation of the system dynamics.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"51 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":"122855300","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}
X. Koutsoukos, F. Zhao, H. Haussecker, J. Reich, Patrick Cheung
This paper presents a framework for modeling faults in hybrid systems that leads to an efficient approach for monitoring and diagnosis of real-time embedded systems. We describe a fault parameterization based on hybrid automata models and consider both abrupt failures and gradual degradation of system components. Our approach also addresses the computational problem of coping with large amount of sensor data by using a discrete event model of the system so as to focus distributed signal analysis on when and where to look for signatures of interest. The approach has been demonstrated for the online diagnosis of a hybrid system, the Xerox DC265 printer.
{"title":"Fault modeling for monitoring and diagnosis of sensor-rich hybrid systems","authors":"X. Koutsoukos, F. Zhao, H. Haussecker, J. Reich, Patrick Cheung","doi":"10.1109/CDC.2001.980203","DOIUrl":"https://doi.org/10.1109/CDC.2001.980203","url":null,"abstract":"This paper presents a framework for modeling faults in hybrid systems that leads to an efficient approach for monitoring and diagnosis of real-time embedded systems. We describe a fault parameterization based on hybrid automata models and consider both abrupt failures and gradual degradation of system components. Our approach also addresses the computational problem of coping with large amount of sensor data by using a discrete event model of the system so as to focus distributed signal analysis on when and where to look for signatures of interest. The approach has been demonstrated for the online diagnosis of a hybrid system, the Xerox DC265 printer.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"3 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":"114545503","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 develop a semi-globally stable nonlinear formation flight control algorithm for a leader-follower configuration in three dimensions. The objective is to maintain the relative distances between the vehicles close to their desired values. It is shown that the conditions under which the control law is well-defined depends on the choice of the reference frame and control inputs. These conditions in the case when the design is carried out in the body frame of the follower are more restrictive than those encountered in the case of the body frame of the leader. The control algorithm is based on a new error formulation in the inertial frame. A detailed analysis and control design procedure are presented.
{"title":"Semi-globally stable formation flight control design in three dimensions","authors":"J. Boskovic, Sai-Ming Li, R. Mehra","doi":"10.1109/CDC.2001.981025","DOIUrl":"https://doi.org/10.1109/CDC.2001.981025","url":null,"abstract":"We develop a semi-globally stable nonlinear formation flight control algorithm for a leader-follower configuration in three dimensions. The objective is to maintain the relative distances between the vehicles close to their desired values. It is shown that the conditions under which the control law is well-defined depends on the choice of the reference frame and control inputs. These conditions in the case when the design is carried out in the body frame of the follower are more restrictive than those encountered in the case of the body frame of the leader. The control algorithm is based on a new error formulation in the inertial frame. A detailed analysis and control design procedure are presented.","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":"117089780","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 purpose of the paper is to provide a method for placing actuators and sensors in systems with nonlinear dynamics wherein the choices for actuator and sensor locations are such that the resulting system is rendered dissipative. The proposed method casts the problem of actuator and sensor selection as a convex optimization problem and which ensures that the resulting transfer function of the linear component becomes strictly positive real. Hence for an actuator and/or sensor whose dynamics have sector bounded nonlinearities, an application of Popov's/circle criterion with a simple static feedback would ensure absolute stability. Furthermore, the nonlinear extension is formulated using dynamic game theory under partial state information.
{"title":"Frequency domain and dynamic game methods for actuator/sensor selection in systems with sector nonlinearities","authors":"M. Demetriou, C. D. Charalambous","doi":"10.1109/CDC.2001.980656","DOIUrl":"https://doi.org/10.1109/CDC.2001.980656","url":null,"abstract":"The purpose of the paper is to provide a method for placing actuators and sensors in systems with nonlinear dynamics wherein the choices for actuator and sensor locations are such that the resulting system is rendered dissipative. The proposed method casts the problem of actuator and sensor selection as a convex optimization problem and which ensures that the resulting transfer function of the linear component becomes strictly positive real. Hence for an actuator and/or sensor whose dynamics have sector bounded nonlinearities, an application of Popov's/circle criterion with a simple static feedback would ensure absolute stability. Furthermore, the nonlinear extension is formulated using dynamic game theory under partial state information.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"24 4 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":"128453710","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}
An identification algorithm for a special model class which captures essential characteristics of many nonlinear systems is presented. Conditions are given under which this nonlinear model can be identified by use of efficient linear tools. Subspace identification is used to determine the linear part of the model and an initial estimate for the nonlinear one. The estimate of the nonlinear part is computed by a final numerical optimization step. A simulation study illustrates the applicability of the proposed method.
{"title":"Identification of extended bilinear state space models","authors":"A. Schrempf, L. Re","doi":"10.1109/CDC.2001.980572","DOIUrl":"https://doi.org/10.1109/CDC.2001.980572","url":null,"abstract":"An identification algorithm for a special model class which captures essential characteristics of many nonlinear systems is presented. Conditions are given under which this nonlinear model can be identified by use of efficient linear tools. Subspace identification is used to determine the linear part of the model and an initial estimate for the nonlinear one. The estimate of the nonlinear part is computed by a final numerical optimization step. A simulation study illustrates the applicability of the proposed method.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"30 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":"128491425","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 optimal receding horizon control strategy for input saturated linear time-varying (LTV) discrete-time systems with polytopic model uncertainties when the actual realization of the uncertain parameter is known and when bounded rate uncertain parameter variations are present, is proposed. The approach is based, on the updating at each step, in a binary tree fashion, of the closed convex hulls of all k-steps state trajectories originating from x at time 0 under a quadratically scheduling stabilizing state feedback. The solution is computed by solving an upper-bound on the "worst-case" infinite horizon quadratic cost under the constraint of steering the future state evolutions emanating from the current state into a feasible and positive invariant set. whose "size" depends on the rate variation of the uncertain parameter. Feasibility and closed loop stability of this strategy are here proved.
{"title":"A scheduling minmax predictive control algorithm for LPV systems subject to bounded rate parameters","authors":"A. Casavola, D. Famularo, G. Franzé","doi":"10.1109/CDC.2001.980615","DOIUrl":"https://doi.org/10.1109/CDC.2001.980615","url":null,"abstract":"A novel optimal receding horizon control strategy for input saturated linear time-varying (LTV) discrete-time systems with polytopic model uncertainties when the actual realization of the uncertain parameter is known and when bounded rate uncertain parameter variations are present, is proposed. The approach is based, on the updating at each step, in a binary tree fashion, of the closed convex hulls of all k-steps state trajectories originating from x at time 0 under a quadratically scheduling stabilizing state feedback. The solution is computed by solving an upper-bound on the \"worst-case\" infinite horizon quadratic cost under the constraint of steering the future state evolutions emanating from the current state into a feasible and positive invariant set. whose \"size\" depends on the rate variation of the uncertain parameter. Feasibility and closed loop stability of this strategy are here proved.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"1 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":"128704053","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}
Strong conditions, involving first-order symmetric products, are given for controllability of affine connection control systems. The conditions generalise, at the first-order level, earlier conditions for affine connection control systems, and involve the use of a vector-valued quadratic form as the essential ingredient in the statement of the results.
{"title":"Geometric first-order controllability conditions for affine connection control systems","authors":"R. Hirschorn, A. D. Lewis","doi":"10.1109/CDC.2001.980850","DOIUrl":"https://doi.org/10.1109/CDC.2001.980850","url":null,"abstract":"Strong conditions, involving first-order symmetric products, are given for controllability of affine connection control systems. The conditions generalise, at the first-order level, earlier conditions for affine connection control systems, and involve the use of a vector-valued quadratic form as the essential ingredient in the statement of the results.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"5 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":"128986055","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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