A state space based design method is given to find strongly stabilizing controllers for multi-input-multi-output plants (MIMO). A sufficient condition is derived for the existence of suboptimal stable H/sup /spl infin// controller in terms of linear matrix inequalities (LMI) and the controller order is twice that of the plant. A new parameterization of strongly stabilizing controllers is determined using linear fractional transformations (LFT).
{"title":"Remarks on strong stabilization and stable H/sup /spl infin// controller design","authors":"S. Gumussoy, H. Özbay","doi":"10.1109/TAC.2005.860271","DOIUrl":"https://doi.org/10.1109/TAC.2005.860271","url":null,"abstract":"A state space based design method is given to find strongly stabilizing controllers for multi-input-multi-output plants (MIMO). A sufficient condition is derived for the existence of suboptimal stable H/sup /spl infin// controller in terms of linear matrix inequalities (LMI) and the controller order is twice that of the plant. A new parameterization of strongly stabilizing controllers is determined using linear fractional transformations (LFT).","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124720322","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 : 2008-03-01DOI: 10.5391/IJFIS.2008.8.1.068
Deok-Hee Song, G. Lee, Seul Jung
In this paper, a novel neural fuzzy control method is proposed to control nonlinear systems. A standard PD-like fuzzy controller is designed and used as a main controller for the system. A neural network controller is added to the reference trajectories to form a neural-fuzzy control structure and used to compensate for time-varying effects. We study two neural-fuzzy control schemes based on two well-known neural network control schemes such as the FEL scheme and the RCT scheme. Those schemes are tested to control the angle and the position of the inverted pendulum and their performances are compared.
{"title":"Neural network compensation technique for standard PD-like fuzzy controlled nonlinear systems","authors":"Deok-Hee Song, G. Lee, Seul Jung","doi":"10.5391/IJFIS.2008.8.1.068","DOIUrl":"https://doi.org/10.5391/IJFIS.2008.8.1.068","url":null,"abstract":"In this paper, a novel neural fuzzy control method is proposed to control nonlinear systems. A standard PD-like fuzzy controller is designed and used as a main controller for the system. A neural network controller is added to the reference trajectories to form a neural-fuzzy control structure and used to compensate for time-varying effects. We study two neural-fuzzy control schemes based on two well-known neural network control schemes such as the FEL scheme and the RCT scheme. Those schemes are tested to control the angle and the position of the inverted pendulum and their performances are compared.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127993427","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 : 2007-09-01DOI: 10.1080/00207170601101092
Shengxiang Jiang, P. Voulgaris, N. Neogi
In this paper we consider the problem of designing a controller that is distributed to n processing nodes associated with n collocated control input-measurement output pairs of a given plant. We seek necessary and sufficient conditions so that a controller, distributed in this form, can provide pre-specified performance levels when certain nodes fail. Based on the Youla-Kucera parameterization, the problem can be converted to a convex, structured in Q problem, the solution of which provides a construction for the distributed controller. In addition to nodal failures, we consider the effect of communication noise existing in the transmission of information among nodes, to the regulated variable, and show that this can be precisely captured also in a convex in Q problem.
{"title":"Failure-robust distributed controller architectures","authors":"Shengxiang Jiang, P. Voulgaris, N. Neogi","doi":"10.1080/00207170601101092","DOIUrl":"https://doi.org/10.1080/00207170601101092","url":null,"abstract":"In this paper we consider the problem of designing a controller that is distributed to n processing nodes associated with n collocated control input-measurement output pairs of a given plant. We seek necessary and sufficient conditions so that a controller, distributed in this form, can provide pre-specified performance levels when certain nodes fail. Based on the Youla-Kucera parameterization, the problem can be converted to a convex, structured in Q problem, the solution of which provides a construction for the distributed controller. In addition to nodal failures, we consider the effect of communication noise existing in the transmission of information among nodes, to the regulated variable, and show that this can be precisely captured also in a convex in Q problem.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130053762","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 : 2007-05-07DOI: 10.1109/CDC.2004.1428927
György Hexner, T. Shima
This paper presents a novel stochastic optimal control guidance law for a missile with bounded acceleration. The optimal law is obtained by numerically solving the stochastic optimization problem. Since the certainty equivalence principle is not valid in the current problem, the resulting optimal law depends on the conditional probability density function of the estimated states. The stochastic optimal control guidance law is compared to the classical optimal, linear, guidance law. It is shown that the new guidance law is nonlinear in the estimated zero effort miss distance and that the probability density function of the miss is non-Gaussian. Only for an extremely large acceleration limit does the stochastic optimal control guidance law degenerate to the classical one. Thus, the research approach of taking into account the acceleration limit is validated.
{"title":"Stochastic optimal control guidance law with bounded acceleration","authors":"György Hexner, T. Shima","doi":"10.1109/CDC.2004.1428927","DOIUrl":"https://doi.org/10.1109/CDC.2004.1428927","url":null,"abstract":"This paper presents a novel stochastic optimal control guidance law for a missile with bounded acceleration. The optimal law is obtained by numerically solving the stochastic optimization problem. Since the certainty equivalence principle is not valid in the current problem, the resulting optimal law depends on the conditional probability density function of the estimated states. The stochastic optimal control guidance law is compared to the classical optimal, linear, guidance law. It is shown that the new guidance law is nonlinear in the estimated zero effort miss distance and that the probability density function of the miss is non-Gaussian. Only for an extremely large acceleration limit does the stochastic optimal control guidance law degenerate to the classical one. Thus, the research approach of taking into account the acceleration limit is validated.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128090364","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 : 2007-03-01DOI: 10.1109/CDC.2004.1428850
Wen-Hong Zhu, M. Doyon
In this paper, an adaptive control algorithm is designed for controlling the harmonic drives used to drive robot manipulators. Direct torque measurement is available by using the flexspline mounted strain-gauges. The torque error is added to the required velocity. Adaptive friction compensation and flexspline dynamics based control are the two main contributions in the paper. The L/sub 2//L/sub /spl infin// stability and the L/sub 2/-gain induced H/sub /spl infin// stability are guaranteed in both joint torque and joint position control modes. Experiments conducted on two typical types of harmonic drives confirm the feasibility of the controller in both time and frequency domains. By using the virtual decomposition control approach, the independently designed joint adaptive controller for harmonic drives can be efficiently incorporated into the motion/force control systems of robot manipulators.
{"title":"Adaptive control of harmonic drives","authors":"Wen-Hong Zhu, M. Doyon","doi":"10.1109/CDC.2004.1428850","DOIUrl":"https://doi.org/10.1109/CDC.2004.1428850","url":null,"abstract":"In this paper, an adaptive control algorithm is designed for controlling the harmonic drives used to drive robot manipulators. Direct torque measurement is available by using the flexspline mounted strain-gauges. The torque error is added to the required velocity. Adaptive friction compensation and flexspline dynamics based control are the two main contributions in the paper. The L/sub 2//L/sub /spl infin// stability and the L/sub 2/-gain induced H/sub /spl infin// stability are guaranteed in both joint torque and joint position control modes. Experiments conducted on two typical types of harmonic drives confirm the feasibility of the controller in both time and frequency domains. By using the virtual decomposition control approach, the independently designed joint adaptive controller for harmonic drives can be efficiently incorporated into the motion/force control systems of robot manipulators.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132675212","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 : 2007-03-01DOI: 10.1109/CDC.2004.1430268
Osamah M. El-Rifai, K. Youcef-Toumi
The atomic force microscope (AFM) requires the user to manually tune controller gains and scan parameters in a trial and error fashion for different sample cantilever combinations. In this paper, steps towards automating this process are presented. Modeling and experimental results are shown revealing the structure of AFM dynamics and how it is impacted by different choices of scan and controller parameters. A robust adaptive controller is designed to address these issues. The performance of the designed adaptive controller is verified by simulating scanning experiments. The adaptive controller eliminates the need for the user to manually tune controller gains for different sample cantilever combinations and compensates for uncertainties arising from the user choice of different scan parameters. In addition, a substantial reduction in contact force and retrace line setpoint error can be achieved with the adaptive controller in comparison with a well-tuned integral controller.
{"title":"On automating atomic force microscopes: an adaptive control approach","authors":"Osamah M. El-Rifai, K. Youcef-Toumi","doi":"10.1109/CDC.2004.1430268","DOIUrl":"https://doi.org/10.1109/CDC.2004.1430268","url":null,"abstract":"The atomic force microscope (AFM) requires the user to manually tune controller gains and scan parameters in a trial and error fashion for different sample cantilever combinations. In this paper, steps towards automating this process are presented. Modeling and experimental results are shown revealing the structure of AFM dynamics and how it is impacted by different choices of scan and controller parameters. A robust adaptive controller is designed to address these issues. The performance of the designed adaptive controller is verified by simulating scanning experiments. The adaptive controller eliminates the need for the user to manually tune controller gains for different sample cantilever combinations and compensates for uncertainties arising from the user choice of different scan parameters. In addition, a substantial reduction in contact force and retrace line setpoint error can be achieved with the adaptive controller in comparison with a well-tuned integral controller.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131960233","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 : 2007-02-01DOI: 10.1016/j.sysconle.2006.08.004
Luis Alejandro Marquez Martinez, C. Moog
{"title":"New insights on the analysis of nonlinear time-delay systems","authors":"Luis Alejandro Marquez Martinez, C. Moog","doi":"10.1016/j.sysconle.2006.08.004","DOIUrl":"https://doi.org/10.1016/j.sysconle.2006.08.004","url":null,"abstract":"","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120232030","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 : 2006-12-01DOI: 10.1080/00207170600849766
H. Rodríguez, A. Astolfi, R. Ortega
It is shown that the property of dynamic linearizability, to be understood as linearizability by means of the dynamic extension algorithm, implies the existence of static, possibly time varying, control laws yielding asymptotic output tracking with arbitrary speed of convergence and asymptotic stabilization with a computable bound on the region of attraction. Similar results hold for systems which are only input/output linearizable by means of dynamic state feedback, provided that the inverse dynamics possess certain stability properties. Applications of these results to the problem of regional stabilization of a VTOL aircraft is considered, together with the tracking problem for a class of flexible joints robots. Moreover, a novel parameterization for flexible joint robots is also proposed.
{"title":"On the construction of static stabilizers and static output trackers for dynamically linearizable systems, related results and applications","authors":"H. Rodríguez, A. Astolfi, R. Ortega","doi":"10.1080/00207170600849766","DOIUrl":"https://doi.org/10.1080/00207170600849766","url":null,"abstract":"It is shown that the property of dynamic linearizability, to be understood as linearizability by means of the dynamic extension algorithm, implies the existence of static, possibly time varying, control laws yielding asymptotic output tracking with arbitrary speed of convergence and asymptotic stabilization with a computable bound on the region of attraction. Similar results hold for systems which are only input/output linearizable by means of dynamic state feedback, provided that the inverse dynamics possess certain stability properties. Applications of these results to the problem of regional stabilization of a VTOL aircraft is considered, together with the tracking problem for a class of flexible joints robots. Moreover, a novel parameterization for flexible joint robots is also proposed.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"290 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134473601","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 : 2006-09-01DOI: 10.1109/CDC.2004.1429636
Seung-Han You, J. Hahn, H. Kim, Y. Cho, Kyo-Il Lee
This paper deals with feedback control of a hydraulic unit for direct yaw moment control, which actively maintains the dynamic stability of an automobile. The uncertain parameters and complex structure naturally call for empirical modeling of the hydraulic unit, which lead to a high-fidelity input/output model. The identified model is cross-validated against experimental data under various conditions, which helps to establish a stringent model uncertainty. Then, the H/sub /spl infin// optimization technique is employed to synthesize a controller with guaranteed robust stability and performance against the model uncertainty. The superb performance of the synthesized controller is experimentally verified, which shows the viability of the proposed approach in a real-world vehicle safety application.
{"title":"Modeling and control of a hydraulic unit for direct yaw moment control in an automobile","authors":"Seung-Han You, J. Hahn, H. Kim, Y. Cho, Kyo-Il Lee","doi":"10.1109/CDC.2004.1429636","DOIUrl":"https://doi.org/10.1109/CDC.2004.1429636","url":null,"abstract":"This paper deals with feedback control of a hydraulic unit for direct yaw moment control, which actively maintains the dynamic stability of an automobile. The uncertain parameters and complex structure naturally call for empirical modeling of the hydraulic unit, which lead to a high-fidelity input/output model. The identified model is cross-validated against experimental data under various conditions, which helps to establish a stringent model uncertainty. Then, the H/sub /spl infin// optimization technique is employed to synthesize a controller with guaranteed robust stability and performance against the model uncertainty. The superb performance of the synthesized controller is experimentally verified, which shows the viability of the proposed approach in a real-world vehicle safety application.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129793901","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 : 2006-08-01DOI: 10.1109/CDC.2004.1429437
Wen-Hong Zhu, B. Tryggvason
Vibration isolation systems (VIS) have appeared in applications ranging from space shuttle applications to ground vehicle suspensions. In this paper, the significant advantage of using I (integral) and II (double integral) type flotor acceleration feedback control together with feedforward compensation of the umbilical dynamics is analyzed theoretically and is also demonstrated experimentally with respect to a typical system, namely a microgravity isolation mount (MIM) operated in the ground environment. The lowest isolation frequency is reduced by about 40 times with a sufficiently improved vibration isolation performance up to 10 Hz, compared to a conventional PID controller. A unique frequency selective filter (FSF) is proposed to suppress the peak frequency responses caused by umbilical resonant modes. The effectiveness of the FSF is demonstrated experimentally with a 20 dB attenuation at 22.2 Hz.
{"title":"On active acceleration control of vibration isolation systems","authors":"Wen-Hong Zhu, B. Tryggvason","doi":"10.1109/CDC.2004.1429437","DOIUrl":"https://doi.org/10.1109/CDC.2004.1429437","url":null,"abstract":"Vibration isolation systems (VIS) have appeared in applications ranging from space shuttle applications to ground vehicle suspensions. In this paper, the significant advantage of using I (integral) and II (double integral) type flotor acceleration feedback control together with feedforward compensation of the umbilical dynamics is analyzed theoretically and is also demonstrated experimentally with respect to a typical system, namely a microgravity isolation mount (MIM) operated in the ground environment. The lowest isolation frequency is reduced by about 40 times with a sufficiently improved vibration isolation performance up to 10 Hz, compared to a conventional PID controller. A unique frequency selective filter (FSF) is proposed to suppress the peak frequency responses caused by umbilical resonant modes. The effectiveness of the FSF is demonstrated experimentally with a 20 dB attenuation at 22.2 Hz.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115185093","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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