Pub Date : 2006-06-14DOI: 10.1109/ACC.2006.1656467
Huanshui Zhang, Lihua Xie
This paper considers the stochastic LQR problem for systems with multiple input delays and stochastic parameter uncertainties in the state and input matrices. The problem is known to be difficult due to the presence of interactions between the delayed input channels and the stochastic parameter uncertainties in the channels. The key to our approach is an innovation analysis which allows us to establish a duality between the stochastic LQR problem and a smoothing problem for an associated delay free system with stochastic parameter uncertainties. Our solution is given in terms of two Riccati difference equations (RDEs) of the same dimension as that of the plant (ignoring the delays) and hence is very simple in computation
{"title":"Linear quadratic regulation for discrete-time systems with multiplicative noises and input delays","authors":"Huanshui Zhang, Lihua Xie","doi":"10.1109/ACC.2006.1656467","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656467","url":null,"abstract":"This paper considers the stochastic LQR problem for systems with multiple input delays and stochastic parameter uncertainties in the state and input matrices. The problem is known to be difficult due to the presence of interactions between the delayed input channels and the stochastic parameter uncertainties in the channels. The key to our approach is an innovation analysis which allows us to establish a duality between the stochastic LQR problem and a smoothing problem for an associated delay free system with stochastic parameter uncertainties. Our solution is given in terms of two Riccati difference equations (RDEs) of the same dimension as that of the plant (ignoring the delays) and hence is very simple in computation","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126079445","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657545
Aaron Radke, Zhiqiang Gao
This paper gives a unified and historical review of observer design for the benefit of practitioners. It is unified in the sense that all observers are examined in terms of: 1) the assumed dynamic structure of the plant; 2) the required information, including the input signals and modeling information of the plant; and 3) the implementation equation of the observer. This allows a practitioner, with a particular observer design problem in mind, to quickly find a suitable solution. The review is historical in the sense that it follows the evolution of ideas in observer design in the last half century. From the distinction in problem formulation, required modeling information and the observer design goal, we can see two schools of thought: one is developed in the framework of modern control theory; the other is based on disturbance estimation, which has been, to some extent, overlooked
{"title":"A survey of state and disturbance observers for practitioners","authors":"Aaron Radke, Zhiqiang Gao","doi":"10.1109/ACC.2006.1657545","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657545","url":null,"abstract":"This paper gives a unified and historical review of observer design for the benefit of practitioners. It is unified in the sense that all observers are examined in terms of: 1) the assumed dynamic structure of the plant; 2) the required information, including the input signals and modeling information of the plant; and 3) the implementation equation of the observer. This allows a practitioner, with a particular observer design problem in mind, to quickly find a suitable solution. The review is historical in the sense that it follows the evolution of ideas in observer design in the last half century. From the distinction in problem formulation, required modeling information and the observer design goal, we can see two schools of thought: one is developed in the framework of modern control theory; the other is based on disturbance estimation, which has been, to some extent, overlooked","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125432368","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 : 2006-06-14DOI: 10.1109/ACC.2006.1656574
Arne G. Dankers, D. Westwick
A system's Volterra kernels may be estimated by identifying a Wiener-Bose model consisting of a bank of discrete Laguerre filters followed by a multiple input polynomial. This projects the kernels onto a reduced-order basis formed by the impulse responses of the Laguerre filters, dramatically reducing the number of estimated parameters, but requiring the a priori selection of two tuning parameters: a decay parameter that defines the Laguerre filters, and the number of filters in the bank. In applications to linear system identification, these tuning parameters can be selected automatically, using either an iterative optimization or an analytical solution. In this paper, both the iterative and analytical techniques are derived for the nonlinear case, and applied to the identification of Wiener-Bose models. A simulation study is used to evaluate the performance of the proposed algorithms
{"title":"Nonlinear system identification using optimally selected Laguerre filter banks","authors":"Arne G. Dankers, D. Westwick","doi":"10.1109/ACC.2006.1656574","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656574","url":null,"abstract":"A system's Volterra kernels may be estimated by identifying a Wiener-Bose model consisting of a bank of discrete Laguerre filters followed by a multiple input polynomial. This projects the kernels onto a reduced-order basis formed by the impulse responses of the Laguerre filters, dramatically reducing the number of estimated parameters, but requiring the a priori selection of two tuning parameters: a decay parameter that defines the Laguerre filters, and the number of filters in the bank. In applications to linear system identification, these tuning parameters can be selected automatically, using either an iterative optimization or an analytical solution. In this paper, both the iterative and analytical techniques are derived for the nonlinear case, and applied to the identification of Wiener-Bose models. A simulation study is used to evaluate the performance of the proposed algorithms","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125579410","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657484
V. Yadav, S. Balakrishnan
In this paper, conditions for optimal impulse control of an impulsive system with constraints on control are derived. These hold for a system whose states can be changed instantaneously at discrete times with impulses while a continuous control is being applied between those times. The conditions derived are applied to the problem of optimal HIV treatment. Simulation results are presented to show the treatment procedure. The results obtained show that the intervention method developed leads to good results
{"title":"Optimal impulse control of systems with control constraints and application to HIV treatment","authors":"V. Yadav, S. Balakrishnan","doi":"10.1109/ACC.2006.1657484","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657484","url":null,"abstract":"In this paper, conditions for optimal impulse control of an impulsive system with constraints on control are derived. These hold for a system whose states can be changed instantaneously at discrete times with impulses while a continuous control is being applied between those times. The conditions derived are applied to the problem of optimal HIV treatment. Simulation results are presented to show the treatment procedure. The results obtained show that the intervention method developed leads to good results","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115470641","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657582
F. Plestan, S. Laghrouche, A. Glumineau
A new robust higher order sliding mode controller for a class of uncertain minimum-phase nonlinear systems is designed. The controller is built in three steps: a) the higher order sliding mode problem is formulated in input-output term; b) it is viewed in uncertain linear context by considering uncertain nonlinear functions as bounded non structured parametric uncertainties; c) a time varying sliding manifold is designed through the computation of state trajectories ensuring the finite-time convergence. The control law which engenders the sliding on the time varying manifold allows the establishment of an rth order sliding mode
{"title":"Robust control of uncertain nonlinear systems: a new higher order sliding mode based solution","authors":"F. Plestan, S. Laghrouche, A. Glumineau","doi":"10.1109/ACC.2006.1657582","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657582","url":null,"abstract":"A new robust higher order sliding mode controller for a class of uncertain minimum-phase nonlinear systems is designed. The controller is built in three steps: a) the higher order sliding mode problem is formulated in input-output term; b) it is viewed in uncertain linear context by considering uncertain nonlinear functions as bounded non structured parametric uncertainties; c) a time varying sliding manifold is designed through the computation of state trajectories ensuring the finite-time convergence. The control law which engenders the sliding on the time varying manifold allows the establishment of an rth order sliding mode","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122334713","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657361
M. Netto, A. Annaswamy, S. Mammar, S. Glaser
Adaptive control of nonlinearly parametrized (NLP) systems is an unknown field, where few results have been proposed up to now. In this paper, we propose a new adaptive control algorithm for systems with multilinear parametrization, that belong to the class of nonlinear parametrizations. The proposed controller is a non certainty equivalence one where only the original parameters, without then the need of over parametrization, are adapted. An important feature of the proposed approach is that its convergence properties are not based on projections inside the hypercube to where the parameters are known to lie. Simulations show the efficacy of the approach highlighting this fact, that is, that convergence holds even for the case where the adapted parameters do not belong to the hypercube where the true parameters are known to be
{"title":"A new adaptive control algorithm for systems with multilinear parametrization","authors":"M. Netto, A. Annaswamy, S. Mammar, S. Glaser","doi":"10.1109/ACC.2006.1657361","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657361","url":null,"abstract":"Adaptive control of nonlinearly parametrized (NLP) systems is an unknown field, where few results have been proposed up to now. In this paper, we propose a new adaptive control algorithm for systems with multilinear parametrization, that belong to the class of nonlinear parametrizations. The proposed controller is a non certainty equivalence one where only the original parameters, without then the need of over parametrization, are adapted. An important feature of the proposed approach is that its convergence properties are not based on projections inside the hypercube to where the parameters are known to lie. Simulations show the efficacy of the approach highlighting this fact, that is, that convergence holds even for the case where the adapted parameters do not belong to the hypercube where the true parameters are known to be","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122760510","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657329
F. Ariaei, E. Jonckheere
This paper shows that circular trajectory tracking of an underactuated hovercraft vehicle can be achieved by linear dynamically varying (LDV) techniques. LDV control is a technique for directing a controlled trajectory to be asymptotically synchronized with a preselected trajectory. A linearized tracking error model is obtained as a linear system parameterized by the nominal nonlinear dynamics. The nontrivial part of the LDV theory is to prove existence of a sufficiently well behaved solution to the partial differential Riccati equation. This in turn provides an exact solution to a Lyapunov inequality, showing that the underactuated hovercraft can be stabilized around the circular trajectory
{"title":"LDV approach to circular trajectory tracking of the underactuated hovercraft model","authors":"F. Ariaei, E. Jonckheere","doi":"10.1109/ACC.2006.1657329","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657329","url":null,"abstract":"This paper shows that circular trajectory tracking of an underactuated hovercraft vehicle can be achieved by linear dynamically varying (LDV) techniques. LDV control is a technique for directing a controlled trajectory to be asymptotically synchronized with a preselected trajectory. A linearized tracking error model is obtained as a linear system parameterized by the nominal nonlinear dynamics. The nontrivial part of the LDV theory is to prove existence of a sufficiently well behaved solution to the partial differential Riccati equation. This in turn provides an exact solution to a Lyapunov inequality, showing that the underactuated hovercraft can be stabilized around the circular trajectory","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122788870","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 : 2006-06-14DOI: 10.1109/ACC.2006.1656504
Shengxiang Jiang, P. Voulgaris, L.E. Holloway, L. Thompson
In this paper we conduct a preliminary study of controlling the primary mirror of a large segmented telescope. This work is motivated by the need of astronomers to study the development of structure in the Universe. First, we present some background about large segmented telescopes and our collaborative research program on large telescopes. Second, we formulate a model of the primary mirror system in state space. Third, we design a centralized controller using H2 methods for a seven-segment system which establishes the best possible performance characteristics for a laboratory-type of unit that we plan to build. Simulation results are displayed. Finally, we apply spatially-invariant distributed control techniques to an infinite segmented system that approximates a large mirror. Through the H2 norm, we calculate upper bounds for the relative displacements between adjacent segments with either a spatially-invariant infinite controller or a truncated local controller. Simulation results are also presented with a truncated local controller applied to a 19-segment system. In all cases, the results indicate that the required accuracy of 10-8 m can be achieved
{"title":"Distributed control of large segmented telescopes","authors":"Shengxiang Jiang, P. Voulgaris, L.E. Holloway, L. Thompson","doi":"10.1109/ACC.2006.1656504","DOIUrl":"https://doi.org/10.1109/ACC.2006.1656504","url":null,"abstract":"In this paper we conduct a preliminary study of controlling the primary mirror of a large segmented telescope. This work is motivated by the need of astronomers to study the development of structure in the Universe. First, we present some background about large segmented telescopes and our collaborative research program on large telescopes. Second, we formulate a model of the primary mirror system in state space. Third, we design a centralized controller using H2 methods for a seven-segment system which establishes the best possible performance characteristics for a laboratory-type of unit that we plan to build. Simulation results are displayed. Finally, we apply spatially-invariant distributed control techniques to an infinite segmented system that approximates a large mirror. Through the H2 norm, we calculate upper bounds for the relative displacements between adjacent segments with either a spatially-invariant infinite controller or a truncated local controller. Simulation results are also presented with a truncated local controller applied to a 19-segment system. In all cases, the results indicate that the required accuracy of 10-8 m can be achieved","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122588907","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657458
T. Keviczky, P. Falcone, F. Borrelli, J. Asgari, D. Hrovat
A model predictive control (MPC) approach to active steering is presented for autonomous vehicle systems. The controller is designed to stabilize a vehicle along a desired path while rejecting wind gusts and fulfilling its physical constraints. Simulation results of a side wind rejection scenario and a double lane change maneuver on slippery surfaces show the benefits of the systematic control methodology used. A trade-off between the vehicle speed and the required preview on the desired path for vehicle stabilization is highlighted
{"title":"Predictive control approach to autonomous vehicle steering","authors":"T. Keviczky, P. Falcone, F. Borrelli, J. Asgari, D. Hrovat","doi":"10.1109/ACC.2006.1657458","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657458","url":null,"abstract":"A model predictive control (MPC) approach to active steering is presented for autonomous vehicle systems. The controller is designed to stabilize a vehicle along a desired path while rejecting wind gusts and fulfilling its physical constraints. Simulation results of a side wind rejection scenario and a double lane change maneuver on slippery surfaces show the benefits of the systematic control methodology used. A trade-off between the vehicle speed and the required preview on the desired path for vehicle stabilization is highlighted","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122603906","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 : 2006-06-14DOI: 10.1109/ACC.2006.1657682
Xidong Tang, Yu Liu, G. Tao
This paper presents an adaptive scheme to adjust the gains of multiple actuating signals, as combined with an adaptive state feedback control law, for linear time-invariant single-output systems. Adaptation of multiple actuating signals makes it possible to relax some critical design conditions for desired system performance. A controller parametrization and a plant-model matching structure are derived. As an illustrative example, a simulation study is carried out for adaptive cooperative control of aircraft ailerons and rudder for desired lateral motion of tracking a reference trajectory
{"title":"A study of adaptation of multiple actuating signals for LTI systems","authors":"Xidong Tang, Yu Liu, G. Tao","doi":"10.1109/ACC.2006.1657682","DOIUrl":"https://doi.org/10.1109/ACC.2006.1657682","url":null,"abstract":"This paper presents an adaptive scheme to adjust the gains of multiple actuating signals, as combined with an adaptive state feedback control law, for linear time-invariant single-output systems. Adaptation of multiple actuating signals makes it possible to relax some critical design conditions for desired system performance. A controller parametrization and a plant-model matching structure are derived. As an illustrative example, a simulation study is carried out for adaptive cooperative control of aircraft ailerons and rudder for desired lateral motion of tracking a reference trajectory","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122194393","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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