In airborne Track-While-Scan systems, target parameters are updated via individual Kalman Filters. To insure numerical stability and accuracy, UD-Factorization techniques are used. A preset number of individual tracks is typically maintained in dense target environments. In real-time application the processing load is of concern. The UD-Factorization algorithm for measurement updates operates on each measurement individually when the error covariance matrix of the measurements is diagonal. In the inertial X-Y-Z TWS Kalman Filter for each track, this matrix is inherently non-diagonal and consequently needs to be operated upon. The proposed algorithm utilizes the lower triangular Cholesky square root technique to determine the normalized measurement vector and observation matrix, and yields an identity measurement error covariance matrix. To perform all the computations necessary requires considerable effort, and this paper delineates what is involved. The computationally cost-effective way to operate reduces to only a few subsidiary calculations above what would be necessary had the measurement error covariance matrix been diagonal to begin with. This algorithm is invoked prior to performing the Kalman Measurement Update equations.
{"title":"Use of Cholesky square roots amidst the UD-factorization implementation of Kalman filters in real-time airborne tracking systems","authors":"R. Yannone","doi":"10.1109/CDC.1984.272054","DOIUrl":"https://doi.org/10.1109/CDC.1984.272054","url":null,"abstract":"In airborne Track-While-Scan systems, target parameters are updated via individual Kalman Filters. To insure numerical stability and accuracy, UD-Factorization techniques are used. A preset number of individual tracks is typically maintained in dense target environments. In real-time application the processing load is of concern. The UD-Factorization algorithm for measurement updates operates on each measurement individually when the error covariance matrix of the measurements is diagonal. In the inertial X-Y-Z TWS Kalman Filter for each track, this matrix is inherently non-diagonal and consequently needs to be operated upon. The proposed algorithm utilizes the lower triangular Cholesky square root technique to determine the normalized measurement vector and observation matrix, and yields an identity measurement error covariance matrix. To perform all the computations necessary requires considerable effort, and this paper delineates what is involved. The computationally cost-effective way to operate reduces to only a few subsidiary calculations above what would be necessary had the measurement error covariance matrix been diagonal to begin with. This algorithm is invoked prior to performing the Kalman Measurement Update equations.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"58 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":"134391777","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 development of a model of an actual assembly line with emphasis on the factors determining the quality and yield of the product is described. The model can be generalized to describe assembly systems with converging/diverging structure. The paper stresses the need to look at the control of quality from a systems perspective rather than the traditional process orientation.
{"title":"Quality modeling and a quality control of a manufacturing system","authors":"J. Buzacott, D. Cheng","doi":"10.1109/CDC.1984.272323","DOIUrl":"https://doi.org/10.1109/CDC.1984.272323","url":null,"abstract":"The development of a model of an actual assembly line with emphasis on the factors determining the quality and yield of the product is described. The model can be generalized to describe assembly systems with converging/diverging structure. The paper stresses the need to look at the control of quality from a systems perspective rather than the traditional process orientation.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"71 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":"134564705","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 deals with problems related to the stabilizability of linear time-varying systems. One of the central results of the paper is that if a system can be stabilized by dynamic state feedback, it can also be stabilized by memoryless (static) state feed-back. A stable-proper factorization theory for linear time-varying systems is also introduced.
{"title":"On the stabilizability of linear time-varying systems","authors":"P. Khargonekar, K. Poolla","doi":"10.1109/CDC.1984.272308","DOIUrl":"https://doi.org/10.1109/CDC.1984.272308","url":null,"abstract":"This paper deals with problems related to the stabilizability of linear time-varying systems. One of the central results of the paper is that if a system can be stabilized by dynamic state feedback, it can also be stabilized by memoryless (static) state feed-back. A stable-proper factorization theory for linear time-varying systems is also introduced.","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":"125690742","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 methodology of [1] is extended to design problems in which servomechanism controllers are sought for obtaining asymptotically exact error regulation for a class of design signals and "good" error regulation for applied signals which may be unknown or random in nature. Application is made in examples to band-limited random reference and disturbance signals.
{"title":"The design of servomechanism controllers for exact and approximate error regulation","authors":"B. Scherzinger, E. Davison","doi":"10.1109/CDC.1984.272210","DOIUrl":"https://doi.org/10.1109/CDC.1984.272210","url":null,"abstract":"The methodology of [1] is extended to design problems in which servomechanism controllers are sought for obtaining asymptotically exact error regulation for a class of design signals and \"good\" error regulation for applied signals which may be unknown or random in nature. Application is made in examples to band-limited random reference and disturbance signals.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"221 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":"115837830","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 design of a controller for the implementation of impedance control for small interaction forces is considered. Impedance control refers to the specification of the mechanical impedance of the manipulator seen from the environment. The stability of the complete system with coordinate transformations is analyzed and a method for reducing the effect of Jacobian matrices with large condition numbers on stability test conservativeness is derived. An actual implementation of a stiffness controller (zero mass and damping) on the Rhino XR-1 robot is described.
{"title":"Stability of mechanical impedence controlled manipulators in workspace coordinates","authors":"D. Grunberg, H. Spang, M. Athans","doi":"10.1109/CDC.1984.272174","DOIUrl":"https://doi.org/10.1109/CDC.1984.272174","url":null,"abstract":"The design of a controller for the implementation of impedance control for small interaction forces is considered. Impedance control refers to the specification of the mechanical impedance of the manipulator seen from the environment. The stability of the complete system with coordinate transformations is analyzed and a method for reducing the effect of Jacobian matrices with large condition numbers on stability test conservativeness is derived. An actual implementation of a stiffness controller (zero mass and damping) on the Rhino XR-1 robot is described.","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":"125488848","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}
Most of the existing off-line trajectory planning schemes focus on the requirements that the trajectory must be smooth and continuous. This paper, based on discrete time trajectory analysis, extends these concepts and includes the manipulator dynamics in the planning of straight line trajectory in the Cartesian space. The planning of straight line trajectory is performed in the Cartesian space and requires optimization in the jointvariable space. An iterative forward and backward search algorithm coupled with a modified forward search algorithm are developed to determine the joint values at each control set point on the given straight line within the bounds imposed by the smoothness and torque constraints. These sets of joint position, velocity and acceleration will be used as referenced inputs to the manipulator controller for the joint-variable space control [1] or can be used to determine the corresponding Cartesian position, velocity, and acceleration on the straight line for the Cartesian space control. The proposed straight line trajectory planning will be useful for obstacle avoidance and the resolved motion adaptive control [2].
{"title":"Planning of straight line manipulator trajectory in Cartesian space with torque constraints","authors":"C. G. Lee, B. Lee","doi":"10.1109/CDC.1984.272352","DOIUrl":"https://doi.org/10.1109/CDC.1984.272352","url":null,"abstract":"Most of the existing off-line trajectory planning schemes focus on the requirements that the trajectory must be smooth and continuous. This paper, based on discrete time trajectory analysis, extends these concepts and includes the manipulator dynamics in the planning of straight line trajectory in the Cartesian space. The planning of straight line trajectory is performed in the Cartesian space and requires optimization in the jointvariable space. An iterative forward and backward search algorithm coupled with a modified forward search algorithm are developed to determine the joint values at each control set point on the given straight line within the bounds imposed by the smoothness and torque constraints. These sets of joint position, velocity and acceleration will be used as referenced inputs to the manipulator controller for the joint-variable space control [1] or can be used to determine the corresponding Cartesian position, velocity, and acceleration on the straight line for the Cartesian space control. The proposed straight line trajectory planning will be useful for obstacle avoidance and the resolved motion adaptive control [2].","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"244 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":"132091865","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 command generator tracker (CGT) technique is used to design an explicit model following scheme in which the stabilizing feedback control law is designed to be a redundant control law. The scheme is applicable to the selfrepairing flight control system concept. The A-7D DIGITAC aircraft linearized data, at one flight condition and one type of impairment, is employed to demonstrate the validity of the approach. The employment of a redundant control law will increase the survivability and operational reliability of the aircraft and will enhance its maintainability during the combat and peace time missions.
{"title":"Redundant command generator tracker control technique for self-repairing flight control systems","authors":"T. Sadeghi","doi":"10.1109/CDC.1984.272088","DOIUrl":"https://doi.org/10.1109/CDC.1984.272088","url":null,"abstract":"The command generator tracker (CGT) technique is used to design an explicit model following scheme in which the stabilizing feedback control law is designed to be a redundant control law. The scheme is applicable to the selfrepairing flight control system concept. The A-7D DIGITAC aircraft linearized data, at one flight condition and one type of impairment, is employed to demonstrate the validity of the approach. The employment of a redundant control law will increase the survivability and operational reliability of the aircraft and will enhance its maintainability during the combat and peace time missions.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"17 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":"132536133","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 two-level decentralized control structure is formulated for large scale interconnected subsystems controlled by N decision makers. Chained aggregation is used to decompose the overall team problem with a decentralized information structure into (N+1) sub-problems: one low order team problem with a centralized information structure and N decentralized optimal control problems. Accordingly, the control of each decision maker is decomposed into three components: a decoupling control which induces aggregation, a local control which controls the subsystem dynamics, and an aggregate control which controls the dynamics of the interconnection variables. The robustness of this composite control with respect to perturbations in the system dynamics and the cost functional is established.
{"title":"An approach to decentralized control of large scale systems using aggregation methods","authors":"V. Saksena, Jose B. Cruz","doi":"10.1109/CDC.1984.272320","DOIUrl":"https://doi.org/10.1109/CDC.1984.272320","url":null,"abstract":"A two-level decentralized control structure is formulated for large scale interconnected subsystems controlled by N decision makers. Chained aggregation is used to decompose the overall team problem with a decentralized information structure into (N+1) sub-problems: one low order team problem with a centralized information structure and N decentralized optimal control problems. Accordingly, the control of each decision maker is decomposed into three components: a decoupling control which induces aggregation, a local control which controls the subsystem dynamics, and an aggregate control which controls the dynamics of the interconnection variables. The robustness of this composite control with respect to perturbations in the system dynamics and the cost functional is established.","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":"121111586","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}
Efficient and numerically well-conditioned scoring algorithms are presented for the maximum-likelihood estimation of initial means and covariances from an ensemble of tests when the initial condition is not observable per test. These algorithms take account also of the possibility that the estimated initial covariance may be singular. A sufficient statistic is used to reduce the computational burden and singular-value-decomposition and square root techniques are used to increase the numerical accuracy of the algorithm.
{"title":"Efficient estimation of initial-condition parameters for partially observable initial conditions","authors":"M. Shuster, D. Porter","doi":"10.1109/CDC.1984.272225","DOIUrl":"https://doi.org/10.1109/CDC.1984.272225","url":null,"abstract":"Efficient and numerically well-conditioned scoring algorithms are presented for the maximum-likelihood estimation of initial means and covariances from an ensemble of tests when the initial condition is not observable per test. These algorithms take account also of the possibility that the estimated initial covariance may be singular. A sufficient statistic is used to reduce the computational burden and singular-value-decomposition and square root techniques are used to increase the numerical accuracy of the algorithm.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"19 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":"116133690","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 parametric hierarchical control approach is used to compute decentralized gains for a two time-scale large scale system of interconnected singularly perturbed systems. In the neighborhood of (local) optimal coordination parameter values the supremal problem preserves the open-loop two time-scale structure. This observation motivates a singular perturbation type of approximate solution of the supremal problem. An illustrative numerical example is given.
{"title":"Parameterized hierarchical control of interconnected singularly perturbed systems","authors":"D. Looze, David H. Gahutu","doi":"10.1109/CDC.1984.272147","DOIUrl":"https://doi.org/10.1109/CDC.1984.272147","url":null,"abstract":"A parametric hierarchical control approach is used to compute decentralized gains for a two time-scale large scale system of interconnected singularly perturbed systems. In the neighborhood of (local) optimal coordination parameter values the supremal problem preserves the open-loop two time-scale structure. This observation motivates a singular perturbation type of approximate solution of the supremal problem. An illustrative numerical example is given.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"7 2 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":"117046200","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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