The effects of the finite word length in a floating point implementation of the least squares filter is discussed. Optimal precomputable gains are given, and a computationally more attractive approximation is given.
{"title":"Gain correction in optimal filtering using floating point arithmetic","authors":"E. Verriest","doi":"10.1109/CDC.1984.272052","DOIUrl":"https://doi.org/10.1109/CDC.1984.272052","url":null,"abstract":"The effects of the finite word length in a floating point implementation of the least squares filter is discussed. Optimal precomputable gains are given, and a computationally more attractive approximation is given.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"67 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":"132604065","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 consider the identification of time-invariant, nonminimum phase, stochastic systems driven by non-Gaussian white noise, given only the noisy observations of the system output. A two-step procedure is proposed. In the first step a spectrally equivalent minimum phase (SEMP) system is estimated using a standard technique that exploits only the second order statistics of the measurements. In the second step partial, 4th order cumulants of the measurements are exploited to resolve the location of the system zeros. Knowledge of the probability distribution of the driving noise is not required. Strong consistency of the proposed estimator is proved under certain mild sufficient conditions. Simulation results are also presented in support of the theory.
{"title":"Identification of nonminimum phase linear stochastic systems","authors":"Jitendra Tugnait","doi":"10.1109/CDC.1984.272371","DOIUrl":"https://doi.org/10.1109/CDC.1984.272371","url":null,"abstract":"We consider the identification of time-invariant, nonminimum phase, stochastic systems driven by non-Gaussian white noise, given only the noisy observations of the system output. A two-step procedure is proposed. In the first step a spectrally equivalent minimum phase (SEMP) system is estimated using a standard technique that exploits only the second order statistics of the measurements. In the second step partial, 4th order cumulants of the measurements are exploited to resolve the location of the system zeros. Knowledge of the probability distribution of the driving noise is not required. Strong consistency of the proposed estimator is proved under certain mild sufficient conditions. Simulation results are also presented in support of the theory.","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":"130902738","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 smoothness priors approach is taken to transfer function estimation from stationary time series data. An impulse response model plus an additive AR noise model each of order M is assumed. This is algebraically equivalent to an ARMAX plus white noise model. Frequency domain smoothness priors are assumed on the ARMAX polynomials and smoothness hyperparameters balance the tradeoff between the infidelity of the model to the data and the infidelity of the model to the smoothness constraints. The likelihood of hyperparameters is maximized by a constrained least squares-gradient search computational procedure. Wind velocity - differential pressure data from the Schmehausen hyperbolic cooling tower is analyzed.
{"title":"Transfer function estimation: A smoothness priors method","authors":"W. Gersch, G. Kitagawa","doi":"10.1109/CDC.1984.272375","DOIUrl":"https://doi.org/10.1109/CDC.1984.272375","url":null,"abstract":"A smoothness priors approach is taken to transfer function estimation from stationary time series data. An impulse response model plus an additive AR noise model each of order M is assumed. This is algebraically equivalent to an ARMAX plus white noise model. Frequency domain smoothness priors are assumed on the ARMAX polynomials and smoothness hyperparameters balance the tradeoff between the infidelity of the model to the data and the infidelity of the model to the smoothness constraints. The likelihood of hyperparameters is maximized by a constrained least squares-gradient search computational procedure. Wind velocity - differential pressure data from the Schmehausen hyperbolic cooling tower is analyzed.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"196 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":"132884485","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 article presents a new way of controlling robots upon external sensory informations, with focus on remote touching. First a general description of sensory based actions in the local environment is proposed. Then, we give a dynamical model in the space R3xSO3 (R), without parametrising orientations. Feedback loops are then closed using either a dynamic point of view, or a kinematic one. In the last part of the article, some experimental aspects are given when using infrared sensors. Limits of this work and further studies are presented in conclusion.
{"title":"Modelling and closed-loop control of robots in local operating space","authors":"M. Leborgne, B. Espiau","doi":"10.1109/CDC.1984.272353","DOIUrl":"https://doi.org/10.1109/CDC.1984.272353","url":null,"abstract":"This article presents a new way of controlling robots upon external sensory informations, with focus on remote touching. First a general description of sensory based actions in the local environment is proposed. Then, we give a dynamical model in the space R3xSO3 (R), without parametrising orientations. Feedback loops are then closed using either a dynamic point of view, or a kinematic one. In the last part of the article, some experimental aspects are given when using infrared sensors. Limits of this work and further studies are presented in conclusion.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"46 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":"133592897","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}
It is shown that the truncated Volterra series of a nonlinear analytic discrete-time system initialized at an equilibrium point can be realized by a polynomial affine system: i.e. a system which is polinomial in the input and affine in the state.
{"title":"Partial realization of a nonlinear discrete-time system from an equilibrium point","authors":"S. Monaco, D. Normand-Cyrot","doi":"10.1109/CDC.1984.272278","DOIUrl":"https://doi.org/10.1109/CDC.1984.272278","url":null,"abstract":"It is shown that the truncated Volterra series of a nonlinear analytic discrete-time system initialized at an equilibrium point can be realized by a polynomial affine system: i.e. a system which is polinomial in the input and affine in the state.","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":"132152069","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 computational problems associated with routing of traffic in congested networks is analyzed. An optimal and a suboptimal, but partially decentralized approach is presented. In the decentralized case infrequent updates of relative costs are allowed to give aggregate information about congestion downstream, and optimal controls are re-calculated with the horizon pushed-back at each update time.
{"title":"Centralized and decentralized computation of routing startegies in congested traffic networks","authors":"H. Ng, U. Ozguner","doi":"10.1109/CDC.1984.272265","DOIUrl":"https://doi.org/10.1109/CDC.1984.272265","url":null,"abstract":"The computational problems associated with routing of traffic in congested networks is analyzed. An optimal and a suboptimal, but partially decentralized approach is presented. In the decentralized case infrequent updates of relative costs are allowed to give aggregate information about congestion downstream, and optimal controls are re-calculated with the horizon pushed-back at each update time.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"22 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":"132263559","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 objective of this paper is a redefinition of the robot control problem, based on realistic (1) models for the industrial robot as a controlled plant, (2) end effector trajectories consistent with manufacturing applications, and (3) the need for end-effector sensing to compensate for uncertainties inherent to most robotic manufacturing applications. Based on extensive analytical and experimental studies, realistic robot dynamic models are presented that have been validated over the frequency range 0 to 50 Hz. These models exhibit a strong influence of drive system flexibility, producing lightly damped poles in the neighborhood of 8 Hz, 14 Hz, and 40 Hz, all unmodeled by the conventional rigid body multiple link robot dynamic approach. The models presented also quantify the significance of nonlinearities in the drive system, in addition to those well-known in the linkage itself. Realistic simulations of robot dynamics and motion controls demonstrate that existing controls coupled with effective path planning produce dynamic path errors that are acceptable for most manufacturing applications. Major benefits are projected, with examples cited, for use of end-effector sensors for position, force, and process control that compensate for uncertainties encountered on the factory floor.
{"title":"Re-definition of the robot motion control problem: Effects of plant dynamics, drive system constraints, and user requirements","authors":"L. Sweet, M. Good","doi":"10.1109/CDC.1984.272105","DOIUrl":"https://doi.org/10.1109/CDC.1984.272105","url":null,"abstract":"The objective of this paper is a redefinition of the robot control problem, based on realistic (1) models for the industrial robot as a controlled plant, (2) end effector trajectories consistent with manufacturing applications, and (3) the need for end-effector sensing to compensate for uncertainties inherent to most robotic manufacturing applications. Based on extensive analytical and experimental studies, realistic robot dynamic models are presented that have been validated over the frequency range 0 to 50 Hz. These models exhibit a strong influence of drive system flexibility, producing lightly damped poles in the neighborhood of 8 Hz, 14 Hz, and 40 Hz, all unmodeled by the conventional rigid body multiple link robot dynamic approach. The models presented also quantify the significance of nonlinearities in the drive system, in addition to those well-known in the linkage itself. Realistic simulations of robot dynamics and motion controls demonstrate that existing controls coupled with effective path planning produce dynamic path errors that are acceptable for most manufacturing applications. Major benefits are projected, with examples cited, for use of end-effector sensors for position, force, and process control that compensate for uncertainties encountered on the factory floor.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"57 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":"133755959","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 initiates an investigation of the application of nonlinear disturbance decoupling theory to the emergency control of electric power systems. The nonlinear classical swing equation model for a network of generator buses is employed. A complete characterization of the set of decoupling feedback controllers is presented. The disturbances considered are generation and load loss, and the control mechanism employed is variation of mechanical input power.
{"title":"Disturbance decoupling control of the swing equations","authors":"E. Abed, P. Krishnaprasad","doi":"10.1109/CDC.1984.272318","DOIUrl":"https://doi.org/10.1109/CDC.1984.272318","url":null,"abstract":"This paper initiates an investigation of the application of nonlinear disturbance decoupling theory to the emergency control of electric power systems. The nonlinear classical swing equation model for a network of generator buses is employed. A complete characterization of the set of decoupling feedback controllers is presented. The disturbances considered are generation and load loss, and the control mechanism employed is variation of mechanical input power.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"59 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":"115699003","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 class of exact fast algorithms originally introduced in the signal processing area is provided by the so-called recursive least squares ladder forms. The many nice numerical and structural properties of these algorithms have made them a very powerful alternative in a very large variety of applications. Yet the convergence properties of the algorithms have not received the necessary attention. This paper gives an asymptotic analysis of two particular ladder algorithms, designed for auto-regressive (AR) and auto-regressive-moving-average (ARMA) models. Convergence is studied based on the stability properties of an associated differential equation. The conditions obtained for the convergence of the algorithms parallel those known for prediction error methods and for a particular type of pseudo-linear regression.
{"title":"Convergence analysis of ladder algorithms for AR and ARMA models","authors":"S. Olcer","doi":"10.1109/CDC.1984.272412","DOIUrl":"https://doi.org/10.1109/CDC.1984.272412","url":null,"abstract":"A class of exact fast algorithms originally introduced in the signal processing area is provided by the so-called recursive least squares ladder forms. The many nice numerical and structural properties of these algorithms have made them a very powerful alternative in a very large variety of applications. Yet the convergence properties of the algorithms have not received the necessary attention. This paper gives an asymptotic analysis of two particular ladder algorithms, designed for auto-regressive (AR) and auto-regressive-moving-average (ARMA) models. Convergence is studied based on the stability properties of an associated differential equation. The conditions obtained for the convergence of the algorithms parallel those known for prediction error methods and for a particular type of pseudo-linear regression.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"205 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":"114649490","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 new results on stabilization of discrete two-dimensional systems are presented. If the horizontal (or vertical) part of the system in the Roesser model is controllable, then the stabilizability question is the same as that for a related discrete delay system.
{"title":"Stabilization of two-dimensional systems","authors":"E. Lee, Wu-Sheng Lu","doi":"10.1109/CDC.1984.272137","DOIUrl":"https://doi.org/10.1109/CDC.1984.272137","url":null,"abstract":"Several new results on stabilization of discrete two-dimensional systems are presented. If the horizontal (or vertical) part of the system in the Roesser model is controllable, then the stabilizability question is the same as that for a related discrete delay system.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"32 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":"116976725","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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