Both theoretical and experimental studies on the control of a free-flying robot manipulator for space application are presented. The goal of the studies is to develop a new control method for target capturing in a space micro-gravity environment, considering the dynamical interaction between the manipulator operation and the base vehicle motion. In the theoretical study, a generalized Jacobian matrix (GJM) concept of motion control and a guaranteed workspace (GWS) for path planning are investigated. In the experimental study, a laboratory model of a robot satellite supported on air bearings is developed; the model comprises a base satellite and a two-link manipulator arm. An on-line control scheme with vision feedback is developed for experimenting with capture operations, on the basis of the GJM and GWS. The manipulator can properly chase and capture both a standing target and a moving target in spite of the complex satellite/manipulator dynamical interaction.<>
{"title":"Control of space free-flying robot","authors":"K. Yoshida, Y. Umetani","doi":"10.1109/CDC.1990.203553","DOIUrl":"https://doi.org/10.1109/CDC.1990.203553","url":null,"abstract":"Both theoretical and experimental studies on the control of a free-flying robot manipulator for space application are presented. The goal of the studies is to develop a new control method for target capturing in a space micro-gravity environment, considering the dynamical interaction between the manipulator operation and the base vehicle motion. In the theoretical study, a generalized Jacobian matrix (GJM) concept of motion control and a guaranteed workspace (GWS) for path planning are investigated. In the experimental study, a laboratory model of a robot satellite supported on air bearings is developed; the model comprises a base satellite and a two-link manipulator arm. An on-line control scheme with vision feedback is developed for experimenting with capture operations, on the basis of the GJM and GWS. The manipulator can properly chase and capture both a standing target and a moving target in spite of the complex satellite/manipulator dynamical interaction.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114669460","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}
Linguistic concepts are introduced to relate Petri net models with the control theory for discrete event systems. Petri net structures can be considered as language generators, and different languages associated with them are examined. An important operator, synchronization, is introduced and its counterpart on a Petri net structure is studied. Finally, the authors introduce the concept of easiness, and study how this property is preserved by synchronization. A net is easy when the solution of the state equation gives a sufficient condition for reachability. The main result is that, although easiness is not preserved in general by synchronization, one can define classes of synchronization that are easiness-invariant.<>
{"title":"Easy synchronized Petri nets as discrete event models","authors":"A. Giua, F. Di Cesare","doi":"10.1109/CDC.1990.203297","DOIUrl":"https://doi.org/10.1109/CDC.1990.203297","url":null,"abstract":"Linguistic concepts are introduced to relate Petri net models with the control theory for discrete event systems. Petri net structures can be considered as language generators, and different languages associated with them are examined. An important operator, synchronization, is introduced and its counterpart on a Petri net structure is studied. Finally, the authors introduce the concept of easiness, and study how this property is preserved by synchronization. A net is easy when the solution of the state equation gives a sufficient condition for reachability. The main result is that, although easiness is not preserved in general by synchronization, one can define classes of synchronization that are easiness-invariant.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116668320","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-time-scale large-scale discrete-time system with an uncertain parameter is considered. It is assumed that a specific structure of m-1 lower level 'fast' subsystems is interconnected through the dynamics of a higher level 'slow' subsystem. Near-optimal solutions are obtained, such that not only is the given cost functional minimized, but also the sensitivity of the interconnected system with respect to the uncertain parameter is reduced.<>
{"title":"Optimal control for large-scale interconnected discrete-time systems with uncertain parameter using singular perturbation methods","authors":"J. Zhou, R. Challoo","doi":"10.1109/CDC.1990.203783","DOIUrl":"https://doi.org/10.1109/CDC.1990.203783","url":null,"abstract":"A two-time-scale large-scale discrete-time system with an uncertain parameter is considered. It is assumed that a specific structure of m-1 lower level 'fast' subsystems is interconnected through the dynamics of a higher level 'slow' subsystem. Near-optimal solutions are obtained, such that not only is the given cost functional minimized, but also the sensitivity of the interconnected system with respect to the uncertain parameter is reduced.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116759526","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 problem of optimal rejection of bounded persistent disturbances is solved in the case of linear discrete-time periodic systems. The solution consists of solving an equivalent time-invariant standard l/sup 1/ optimization problem subject to an additional constraint. This constraint ensures the causality of the resulting periodic controller. By duality theory, the problem is shown to be equivalent to a linear programming problem, which is no harder than the standard l/sup 1/ problem.<>
{"title":"Optimal rejection of bounded persistent disturbances in periodic systems","authors":"M. Dahleh, P. Voulgaris, L. Valavani","doi":"10.1109/CDC.1990.204034","DOIUrl":"https://doi.org/10.1109/CDC.1990.204034","url":null,"abstract":"The problem of optimal rejection of bounded persistent disturbances is solved in the case of linear discrete-time periodic systems. The solution consists of solving an equivalent time-invariant standard l/sup 1/ optimization problem subject to an additional constraint. This constraint ensures the causality of the resulting periodic controller. By duality theory, the problem is shown to be equivalent to a linear programming problem, which is no harder than the standard l/sup 1/ problem.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"306 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116797685","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 and evaluation of two novel nonlinear reinforcement schemes for learning automata are presented. These schemes are designed to increase the rate of adaptation of the existing L/sub R-P/ schemes while interacting with nonstationary environments. The first of these two schemes is called a nonlinear scheme incorporating history (NSIH) and the second a nonlinear scheme with unstable zones (NSWUZ). The prime objective of these algorithms is to reduce the number of iterations needed for the action probability vector to reach the desired level of accuracy rather than converge to a specific unit vector in the Cartesian coordinate. Simulation experiments have been conducted to assess the learning properties of NSIH and NSWUZ in nonstationary environments. The simulation results show that the proposed nonlinear algorithms respond to environmental changes faster than the L/sub R-P/ scheme.<>
{"title":"Nonlinear reinforcement schemes for learning automata","authors":"H. E. Garcia, Abhik Ray","doi":"10.1109/CDC.1990.204017","DOIUrl":"https://doi.org/10.1109/CDC.1990.204017","url":null,"abstract":"The development and evaluation of two novel nonlinear reinforcement schemes for learning automata are presented. These schemes are designed to increase the rate of adaptation of the existing L/sub R-P/ schemes while interacting with nonstationary environments. The first of these two schemes is called a nonlinear scheme incorporating history (NSIH) and the second a nonlinear scheme with unstable zones (NSWUZ). The prime objective of these algorithms is to reduce the number of iterations needed for the action probability vector to reach the desired level of accuracy rather than converge to a specific unit vector in the Cartesian coordinate. Simulation experiments have been conducted to assess the learning properties of NSIH and NSWUZ in nonstationary environments. The simulation results show that the proposed nonlinear algorithms respond to environmental changes faster than the L/sub R-P/ scheme.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116901948","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 dynamic voltage stability analysis of a single-machine constant-power-load system is presented. The system model includes only the machine voltage variables. A key factor in the analysis is the variation of the conditioning of the network Jacobian matrix with respect to the constant power load demand and the machine voltage source. It is shown that a dynamic instability phenomenon arises when the Jacobian matrix is ill-conditioned. The results presented include eigenvalue analysis, control parameter sensitivity analysis, and nonlinear voltage collapse simulations.<>
{"title":"Dynamic voltage stability analysis of a single machine constant power load system","authors":"J. Chow, A. Gebreselassie","doi":"10.1109/CDC.1990.203351","DOIUrl":"https://doi.org/10.1109/CDC.1990.203351","url":null,"abstract":"A dynamic voltage stability analysis of a single-machine constant-power-load system is presented. The system model includes only the machine voltage variables. A key factor in the analysis is the variation of the conditioning of the network Jacobian matrix with respect to the constant power load demand and the machine voltage source. It is shown that a dynamic instability phenomenon arises when the Jacobian matrix is ill-conditioned. The results presented include eigenvalue analysis, control parameter sensitivity analysis, and nonlinear voltage collapse simulations.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116955824","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}
Robust stability of multivariable feedback systems using 'type L' compensators is investigated. A systematic procedure is established for the design of 'type L' compensators which impart some stability robustness to the closed-loop systems. The results obtained are directly applicable to the robust stabilization of a class of parametric uncertain systems with right half-plane zeros.<>
{"title":"Robust stability of 'type L' feedback systems","authors":"G. Gu, R. Yedavalli","doi":"10.1109/CDC.1990.203632","DOIUrl":"https://doi.org/10.1109/CDC.1990.203632","url":null,"abstract":"Robust stability of multivariable feedback systems using 'type L' compensators is investigated. A systematic procedure is established for the design of 'type L' compensators which impart some stability robustness to the closed-loop systems. The results obtained are directly applicable to the robust stabilization of a class of parametric uncertain systems with right half-plane zeros.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117173977","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 concept of input-output equivalency of real linear lumped time invariant (LLTI) systems is formulated in terms of semistate theory. Then this equivalency is tied to the Lewis backward-forward semistate decomposition which is reviewed and rederived. Finally, a system synthesis based upon this Lewis decomposition is given which allows physical realization of any LLTI semistate described regular system via its Lewis equivalent system.<>
{"title":"Semistate equivalency: the Lewis realization","authors":"R. Newcomb, C. Wooten, B. Dziurla","doi":"10.1109/CDC.1990.203545","DOIUrl":"https://doi.org/10.1109/CDC.1990.203545","url":null,"abstract":"The concept of input-output equivalency of real linear lumped time invariant (LLTI) systems is formulated in terms of semistate theory. Then this equivalency is tied to the Lewis backward-forward semistate decomposition which is reviewed and rederived. Finally, a system synthesis based upon this Lewis decomposition is given which allows physical realization of any LLTI semistate described regular system via its Lewis equivalent system.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117212222","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 nonlinear observer is used as a basis for a class of dynamic compensators to control a linear system with incompletely known nonlinear actuator characteristics and with quantized output measurements. Using the Gronwall-Bellman inequality, a sufficient condition is derived to insure the asymptotic stability of the closed-loop compensated system.<>
{"title":"Robust stability bounds for a class of nonlinear feedback systems with output quantization","authors":"F. Thau","doi":"10.1109/CDC.1990.203578","DOIUrl":"https://doi.org/10.1109/CDC.1990.203578","url":null,"abstract":"A nonlinear observer is used as a basis for a class of dynamic compensators to control a linear system with incompletely known nonlinear actuator characteristics and with quantized output measurements. Using the Gronwall-Bellman inequality, a sufficient condition is derived to insure the asymptotic stability of the closed-loop compensated system.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117352462","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 algorithm procedure for determining identifiability of nonlinear systems is presented. It also gives conditions for the control signal to be persistently exciting. The algorithm is based on differential algebraic concepts.<>
给出了一种确定非线性系统可辨识性的算法过程。给出了控制信号持续激励的条件。该算法基于微分代数概念。
{"title":"Model structure identifiability and persistence of excitation","authors":"S. Glad, L. Ljung","doi":"10.1109/CDC.1990.203389","DOIUrl":"https://doi.org/10.1109/CDC.1990.203389","url":null,"abstract":"An algorithm procedure for determining identifiability of nonlinear systems is presented. It also gives conditions for the control signal to be persistently exciting. The algorithm is based on differential algebraic concepts.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121054583","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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