{"title":"Subharmonic functions and performance bounds on linear time-invariant feedback systems","authors":"Stephen P. Boyd, C. Desoer","doi":"10.1109/CDC.1984.272363","DOIUrl":"https://doi.org/10.1109/CDC.1984.272363","url":null,"abstract":"","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126113032","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 efficient globally convergent algorithm for the solution of a class of optimal decentralized control problems for linear discrete time stochastic systems is given. The presented algorithm is a generalization of a convergent modification of the Anderson-Moore method for the optimal output feedback problem to optimal decentralized control problems.
{"title":"A convergent algorithm for a class of optimal decentralized control problems","authors":"P. Makila","doi":"10.1109/CDC.1984.272151","DOIUrl":"https://doi.org/10.1109/CDC.1984.272151","url":null,"abstract":"An efficient globally convergent algorithm for the solution of a class of optimal decentralized control problems for linear discrete time stochastic systems is given. The presented algorithm is a generalization of a convergent modification of the Anderson-Moore method for the optimal output feedback problem to optimal decentralized control problems.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126166961","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 provides a brief summary of the goals, methods, and achievements of the Image Understanding field. Some details of work at USC are provided. The tasks described include automated mapping from aerial image, image to map correspondence and 3-D vision for robotics applications. This paper provides only a brief summary, more details can be found in other reports and publications.
{"title":"Image understanding systems","authors":"R. Nevatia","doi":"10.1109/CDC.1984.272070","DOIUrl":"https://doi.org/10.1109/CDC.1984.272070","url":null,"abstract":"This paper provides a brief summary of the goals, methods, and achievements of the Image Understanding field. Some details of work at USC are provided. The tasks described include automated mapping from aerial image, image to map correspondence and 3-D vision for robotics applications. This paper provides only a brief summary, more details can be found in other reports and publications.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123753709","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 the problem of synthesizing a fine-pointing control system for a large flexible space antenna in the presence of modeling uncertainties. The plant to be controlled is a 122-meter diameter, space-based, "Hoop/Column" antenna. The mathematical model, based on a finite element analysis, consists of three rigid-body rotational modes, and the first 10 elastic modes. A preliminary robust compensator design for achieving the required pointing performance is obtained using linear-quadratic-Gaussian (LQG) and loop transfer recovery (LTR) methods for loop-shaping. The computations are performed using the LQG design package "ORACLS," and a recently developed singular value analysis package.
{"title":"Robust controller synthesis for a large flexible space antenna","authors":"N. Sundararajan, S. Joshi, E. Armstrong","doi":"10.1109/CDC.1984.272321","DOIUrl":"https://doi.org/10.1109/CDC.1984.272321","url":null,"abstract":"This paper considers the problem of synthesizing a fine-pointing control system for a large flexible space antenna in the presence of modeling uncertainties. The plant to be controlled is a 122-meter diameter, space-based, \"Hoop/Column\" antenna. The mathematical model, based on a finite element analysis, consists of three rigid-body rotational modes, and the first 10 elastic modes. A preliminary robust compensator design for achieving the required pointing performance is obtained using linear-quadratic-Gaussian (LQG) and loop transfer recovery (LTR) methods for loop-shaping. The computations are performed using the LQG design package \"ORACLS,\" and a recently developed singular value analysis package.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125389992","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 procedure for obtaining a finite-dimensional reduced order model for a class of distributed systems is developed. It is based on a combination of a modal approximation and an optimal Hankel-norm approximation and the approximation error can be accurately predicted. The reduced order model can be used to design a precompensator for the original system as its performance and robust stability characteristics can be deduced from the reduced order model and finitely many modal parameters. The procedure is applied to a damped hyperbolic system.
{"title":"Controller design for distributed systems baesd on Hankel-norm approximations","authors":"R. Curtain, K. Glover","doi":"10.1109/CDC.1984.272062","DOIUrl":"https://doi.org/10.1109/CDC.1984.272062","url":null,"abstract":"A procedure for obtaining a finite-dimensional reduced order model for a class of distributed systems is developed. It is based on a combination of a modal approximation and an optimal Hankel-norm approximation and the approximation error can be accurately predicted. The reduced order model can be used to design a precompensator for the original system as its performance and robust stability characteristics can be deduced from the reduced order model and finitely many modal parameters. The procedure is applied to a damped hyperbolic system.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125419170","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}
Sufficient conditions for the stability of the two-priority, virtual time CSMA packet broadcast channel are developed. The results are in the form of inequalities which define stable operating regions for the channel in terms of its parameters. In particular, for given packet arrival rates, packet lengths, and a collision detection time for the two traffic types, one is able to determine retransmission controls and virtual time clock rates which stabilize the channel.
{"title":"Stability conditions for a two-priority packet broadcast channel","authors":"J. Meditch, Hao Yin","doi":"10.1109/CDC.1984.272261","DOIUrl":"https://doi.org/10.1109/CDC.1984.272261","url":null,"abstract":"Sufficient conditions for the stability of the two-priority, virtual time CSMA packet broadcast channel are developed. The results are in the form of inequalities which define stable operating regions for the channel in terms of its parameters. In particular, for given packet arrival rates, packet lengths, and a collision detection time for the two traffic types, one is able to determine retransmission controls and virtual time clock rates which stabilize the channel.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128802309","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 paper we continue the investigations begun in [13] and [14] on the control of robot manipulators. Using the theory of uncertain dynamical systems developed in [4], [5], [16], [17] we derive a robust nonlinear control strategy with guaranteed tracking properties which can be quantified given bounds on the extent of model uncertainty, sensor noise, input disturbances, etc. We also extend the class of pointwise optimal control strategies of [13] to the case of systems with uncertainty in order to treat the problem of input constraints within the context of uncertain systems.
{"title":"The control of robot manipulators with bounded input: Part II: Robustness and disturbance rejection","authors":"M. Spong, J. Thorp, Jeffrey M. Kleinwaks","doi":"10.1109/CDC.1984.272173","DOIUrl":"https://doi.org/10.1109/CDC.1984.272173","url":null,"abstract":"In this paper we continue the investigations begun in [13] and [14] on the control of robot manipulators. Using the theory of uncertain dynamical systems developed in [4], [5], [16], [17] we derive a robust nonlinear control strategy with guaranteed tracking properties which can be quantified given bounds on the extent of model uncertainty, sensor noise, input disturbances, etc. We also extend the class of pointwise optimal control strategies of [13] to the case of systems with uncertainty in order to treat the problem of input constraints within the context of uncertain systems.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124603574","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}
Fishery management problems are closely related to conventional types of production problems familiar to the OR analyst. In truth, the results of mathematical management models are seldom used directly to formulate policy, but the policy regimes suggested by such models have been adopted by policymakers. An example of this dynamic is the evolution of harvesting policy decisions. Approximating a problem to provide a bound on the optimal policy can suggest the appropriate policy regimes without incurring the calculational burden of an exact solution. A fleet allocation problem demonstrates this technique.
{"title":"Decision problems in Marine fisheries","authors":"W. Lovejoy","doi":"10.1109/CDC.1984.272389","DOIUrl":"https://doi.org/10.1109/CDC.1984.272389","url":null,"abstract":"Fishery management problems are closely related to conventional types of production problems familiar to the OR analyst. In truth, the results of mathematical management models are seldom used directly to formulate policy, but the policy regimes suggested by such models have been adopted by policymakers. An example of this dynamic is the evolution of harvesting policy decisions. Approximating a problem to provide a bound on the optimal policy can suggest the appropriate policy regimes without incurring the calculational burden of an exact solution. A fleet allocation problem demonstrates this technique.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124649353","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}
Several authors (Denardo [61 Karp and Held [18], and Bertsekas [3]) have proposed abstract dynamic programming models encompassing a wide variety of sequential optimization problems. The unifying purpose of these models is to impose sufficient conditions on the recursive defimtion of the objective function to guarantee the validity of the solution of the optimization problem by a dynamic programming iteration. In this paper we propose a general dynamic programming operator model that includes, but is not restricted to, optimization problems. Any functional satisfying a certain commutativity condition (which reduces to the principle of optimality in extrermzation problems see Section 2, B2) a-ith the generating operator of the objective recursive function, results in a sequential problem solvable by a dynamic programming iteration. Examples of sequential nonextremization problems fitting t h s framework are the derivation of marginal distributions in arbitrary probability spaces, iterative computation of stageseparated functions defined on general algebra~c systems such as additive commutative semi-groups with distributlve products, generation of symbolic transfer functions, and the Chapman-Kolmogorov equations.
{"title":"Backward, forward and backward-forward dynamic programming models under commutativity conditions","authors":"S. Verdú, H. Poor","doi":"10.1109/CDC.1984.272179","DOIUrl":"https://doi.org/10.1109/CDC.1984.272179","url":null,"abstract":"Several authors (Denardo [61 Karp and Held [18], and Bertsekas [3]) have proposed abstract dynamic programming models encompassing a wide variety of sequential optimization problems. The unifying purpose of these models is to impose sufficient conditions on the recursive defimtion of the objective function to guarantee the validity of the solution of the optimization problem by a dynamic programming iteration. In this paper we propose a general dynamic programming operator model that includes, but is not restricted to, optimization problems. Any functional satisfying a certain commutativity condition (which reduces to the principle of optimality in extrermzation problems see Section 2, B2) a-ith the generating operator of the objective recursive function, results in a sequential problem solvable by a dynamic programming iteration. Examples of sequential nonextremization problems fitting t h s framework are the derivation of marginal distributions in arbitrary probability spaces, iterative computation of stageseparated functions defined on general algebra~c systems such as additive commutative semi-groups with distributlve products, generation of symbolic transfer functions, and the Chapman-Kolmogorov equations.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129464835","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}
For the calculation of conditional expectations in nonlinear filtering of Markov processes, one may think to use Monte-Carlo techniques, as an alternative to the numerical solution of Zakai equation (a stochastic PDE). We show that a direct implementation of this idea is unefficient, and we propose a modified algorithm, that uses importance sampling, where our choice of the new probability is based on large deviations arguments.
{"title":"Monte-Carlo methods in nonlinear filtering and importance sampling","authors":"F. Gland","doi":"10.1109/CDC.1984.272246","DOIUrl":"https://doi.org/10.1109/CDC.1984.272246","url":null,"abstract":"For the calculation of conditional expectations in nonlinear filtering of Markov processes, one may think to use Monte-Carlo techniques, as an alternative to the numerical solution of Zakai equation (a stochastic PDE). We show that a direct implementation of this idea is unefficient, and we propose a modified algorithm, that uses importance sampling, where our choice of the new probability is based on large deviations arguments.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129659616","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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