The application of H/sub 2/ and H/sub infinity / optimization techniques to the design of controllers for induction motor drives is presented. To make the H/sub 2/ and H/sub infinity / theories applicable, a linearized dynamic model is derived. The design of the H/sub 2/ and H/sub infinity / controllers is then summarized.<>
{"title":"Design of H/sub 2/ and H/sub infinity / controllers for induction motor drives","authors":"Yau-Tze Kao, Tian‐Hua Liu, Chang-Huan Liu","doi":"10.1109/CDC.1990.203414","DOIUrl":"https://doi.org/10.1109/CDC.1990.203414","url":null,"abstract":"The application of H/sub 2/ and H/sub infinity / optimization techniques to the design of controllers for induction motor drives is presented. To make the H/sub 2/ and H/sub infinity / theories applicable, a linearized dynamic model is derived. The design of the H/sub 2/ and H/sub infinity / controllers is then summarized.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"101 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":"127119668","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}
Ripple phenomena in digital repetitive control systems are investigated based on a steady-state analysis. It is shown that the larger ripple is mainly caused by the larger steady-state control input. The authors introduce an index for the level of the ripple related to the level of the steady-state control input. Design methods using generalized hold function and asynchronized sampling are proposed for the attenuation of the ripple. Numerical examples show the usefulness of the proposed methods.<>
{"title":"Ripple attenuation in digital repetitive control systems","authors":"S. Hara, M. Tetsuka, R. Kondo","doi":"10.1109/CDC.1990.203907","DOIUrl":"https://doi.org/10.1109/CDC.1990.203907","url":null,"abstract":"Ripple phenomena in digital repetitive control systems are investigated based on a steady-state analysis. It is shown that the larger ripple is mainly caused by the larger steady-state control input. The authors introduce an index for the level of the ripple related to the level of the steady-state control input. Design methods using generalized hold function and asynchronized sampling are proposed for the attenuation of the ripple. Numerical examples show the usefulness of the proposed methods.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"20 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":"127120710","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 fuzzy logic based methodology is proposed to model the organization level of an intelligent robotic system. The user input commands to the system organizer are linguistic in nature, and the primitive events-tasks from the task domain of the system are in general interpreted via fuzzy sets. Fuzzy relations are introduced to connect every event with a specific user input command. Approximate reasoning is accomplished via a modifier and the compositional rule of inference, whereas the application of the conjunction rule generates those fuzzy sets with elements all possible (crisp) plans. The most possible plan among all those generated that is optimal under an application dependent criterion is chosen and communicated to the coordination level.<>
{"title":"Fuzzy logic based formulation of the organizer of intelligent robotic systems","authors":"K. Valavanis, H. M. Stellakis","doi":"10.1109/CDC.1990.203772","DOIUrl":"https://doi.org/10.1109/CDC.1990.203772","url":null,"abstract":"A fuzzy logic based methodology is proposed to model the organization level of an intelligent robotic system. The user input commands to the system organizer are linguistic in nature, and the primitive events-tasks from the task domain of the system are in general interpreted via fuzzy sets. Fuzzy relations are introduced to connect every event with a specific user input command. Approximate reasoning is accomplished via a modifier and the compositional rule of inference, whereas the application of the conjunction rule generates those fuzzy sets with elements all possible (crisp) plans. The most possible plan among all those generated that is optimal under an application dependent criterion is chosen and communicated to the coordination level.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"99 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":"127261411","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 the work described is to produce autonomous robots which can freely wander about while creating and improving maps of their environment which can then be used for navigation and planning. It is suggested that qualitative spatial understanding provides an underlying representation and learning mechanism to form spatial memories without requiring complicated object recognition or precise determination of environmental locations. The work to date has dealt mainly with viewframe extraction and matching. Areas and potential simplifications which need to be explored are discussed.<>
{"title":"Qualitative spatial understanding and the control of mobile robots","authors":"D. Lawton, W. Carter","doi":"10.1109/CDC.1990.203860","DOIUrl":"https://doi.org/10.1109/CDC.1990.203860","url":null,"abstract":"The objective of the work described is to produce autonomous robots which can freely wander about while creating and improving maps of their environment which can then be used for navigation and planning. It is suggested that qualitative spatial understanding provides an underlying representation and learning mechanism to form spatial memories without requiring complicated object recognition or precise determination of environmental locations. The work to date has dealt mainly with viewframe extraction and matching. Areas and potential simplifications which need to be explored are discussed.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"120 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":"124739068","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 inverse electrocardiographic problem of determining the epicardial potential distribution from body surface potential is addressed. Taking the heart-torso system as a dynamical system governed by Laplace's equation, the problem is formulated as an observability problem with the electrical potential distribution on the surface of the heart as input and the potential distribution on the torso as output. The problem then becomes the reconstruction of as much information as possible about the state of the system using only a finite number of measurements on the torso. In this study, an analytical solution of this problem in the form of a generalized Fourier series was obtained under the assumption of an idealized geometry: a coaxial cylinder representing the human torso and cardiac surface. An algorithm was developed to numerically find the solution of Laplace's equation from discrete measurements on the boundary (body surface).<>
{"title":"An application of observability to the reconstruction of cardiac electrical events","authors":"C. Martin, S. Xie","doi":"10.1109/CDC.1990.203572","DOIUrl":"https://doi.org/10.1109/CDC.1990.203572","url":null,"abstract":"The inverse electrocardiographic problem of determining the epicardial potential distribution from body surface potential is addressed. Taking the heart-torso system as a dynamical system governed by Laplace's equation, the problem is formulated as an observability problem with the electrical potential distribution on the surface of the heart as input and the potential distribution on the torso as output. The problem then becomes the reconstruction of as much information as possible about the state of the system using only a finite number of measurements on the torso. In this study, an analytical solution of this problem in the form of a generalized Fourier series was obtained under the assumption of an idealized geometry: a coaxial cylinder representing the human torso and cardiac surface. An algorithm was developed to numerically find the solution of Laplace's equation from discrete measurements on the boundary (body surface).<<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":"126062510","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}
Problem areas and practical solutions in the development of large-dimension Kalman filters for the calibration and alignment of complex inertial guidance systems are discussed. The basic vector attitude error equation is augmented by gyro and accelerometer unknown parameters. The parameter estimation problem is converted into a state estimation problem. A complete approach and description of the dual extended Kalman filter, one for accelerometers and one for gyros, is given. To reduce computational load, a technique of prefiltering (data compression or measurement averaging) has been implemented in the mechanization with very little degradation in the performance of the filter. The models of gyros and accelerometers used are described in detail. A technique for generating parameter excitation trajectories which provides observability of instrument parameters has been developed by maximizing the information matrix. A typical set of results for a simulator data set for parameter estimates and innovation sequences is given to show the performance, convergence, accuracy, and stability of the filter estimates.<>
{"title":"Application of Kalman filtering to the calibration and alignment of inertial navigation systems","authors":"M. Grewal, V. D. Henderson, R. Miyasako","doi":"10.1109/CDC.1990.203410","DOIUrl":"https://doi.org/10.1109/CDC.1990.203410","url":null,"abstract":"Problem areas and practical solutions in the development of large-dimension Kalman filters for the calibration and alignment of complex inertial guidance systems are discussed. The basic vector attitude error equation is augmented by gyro and accelerometer unknown parameters. The parameter estimation problem is converted into a state estimation problem. A complete approach and description of the dual extended Kalman filter, one for accelerometers and one for gyros, is given. To reduce computational load, a technique of prefiltering (data compression or measurement averaging) has been implemented in the mechanization with very little degradation in the performance of the filter. The models of gyros and accelerometers used are described in detail. A technique for generating parameter excitation trajectories which provides observability of instrument parameters has been developed by maximizing the information matrix. A typical set of results for a simulator data set for parameter estimates and innovation sequences is given to show the performance, convergence, accuracy, and stability of the filter estimates.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"6 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":"123285983","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 scheduling problem is considered for medium sized (5-10 machines or workplaces) flexible manufacturing systems which are part of a larger production process. The general philosophy is to divide the scheduling problem into a number of local decentralized problems: the optimal sequencing and routing of the jobs within flexible manufacturing systems or small workshops. The subsystems are coordinated by an upper-level scheduler. It assigns the due dates for the completion of operations in the subsystems and determines the earliest possible starting times from the dependencies among the operations and the externally determined starting conditions. Based on the mathematical description of decision-free manufacturing systems in terms of minimax algebra, the coordination of the subsystems can be achieved in a very simple manner. In this study the behavior of local on-line scheduling algorithms is investigated. The local control laws are based on priority rules augmented by look-ahead strategies.<>
{"title":"On decentralized on-line scheduling of FMS","authors":"S. Engell, T. Kuhn, M. Moser","doi":"10.1109/CDC.1990.203558","DOIUrl":"https://doi.org/10.1109/CDC.1990.203558","url":null,"abstract":"The scheduling problem is considered for medium sized (5-10 machines or workplaces) flexible manufacturing systems which are part of a larger production process. The general philosophy is to divide the scheduling problem into a number of local decentralized problems: the optimal sequencing and routing of the jobs within flexible manufacturing systems or small workshops. The subsystems are coordinated by an upper-level scheduler. It assigns the due dates for the completion of operations in the subsystems and determines the earliest possible starting times from the dependencies among the operations and the externally determined starting conditions. Based on the mathematical description of decision-free manufacturing systems in terms of minimax algebra, the coordination of the subsystems can be achieved in a very simple manner. In this study the behavior of local on-line scheduling algorithms is investigated. The local control laws are based on priority rules augmented by look-ahead strategies.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"9 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":"123712298","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 application of nonparametric techniques in distributed detection systems is investigated. Sign detectors and dead-zone limiter detectors are considered. Generalized Gaussian distribution is used as the input statistics, which is a general class of symmetric unimodal univariate probability density functions. Performance comparisons between nonparametric distributed detectors and some parametric distributed detectors are given.<>
{"title":"Some results on distributed nonparametric detection","authors":"J. Han, P. Varshney, V. Vannicola","doi":"10.1109/CDC.1990.203266","DOIUrl":"https://doi.org/10.1109/CDC.1990.203266","url":null,"abstract":"The application of nonparametric techniques in distributed detection systems is investigated. Sign detectors and dead-zone limiter detectors are considered. Generalized Gaussian distribution is used as the input statistics, which is a general class of symmetric unimodal univariate probability density functions. Performance comparisons between nonparametric distributed detectors and some parametric distributed detectors are given.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"4 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":"123764325","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 method is presented by which planning in domains which are neither perfectly characterizable nor completely unpredictable might be achieved. The primary goal of this research is the development of learning strategies which will enable a planner to learn how to construct plans useful and usable in real-world domains. In line with this goal, the author has developed an integrated planning approach in which a classical planner is augmented with the ability to defer achievable goals, which are addressed during execution. The completable reactive plans constructed in this approach remain provably correct due to the achievability constraint on deferred goals, while allowing a planner to use runtime information to facilitate its planning.<>
{"title":"Using qualitative reasoning in proving achievability","authors":"M. Gervasio","doi":"10.1109/CDC.1990.203864","DOIUrl":"https://doi.org/10.1109/CDC.1990.203864","url":null,"abstract":"A method is presented by which planning in domains which are neither perfectly characterizable nor completely unpredictable might be achieved. The primary goal of this research is the development of learning strategies which will enable a planner to learn how to construct plans useful and usable in real-world domains. In line with this goal, the author has developed an integrated planning approach in which a classical planner is augmented with the ability to defer achievable goals, which are addressed during execution. The completable reactive plans constructed in this approach remain provably correct due to the achievability constraint on deferred goals, while allowing a planner to use runtime information to facilitate its planning.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"4 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":"125286418","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 robust stabilization problem first suggested by M. Vidyasagar (1986) is considered. The authors examine uncertainty in the nominal system modeled by additive perturbations on the coprime factors of the system. It is demonstrated that the bound on the admissible uncertainty in D. McFarlane and K. Glover (1989) is restrictive in that there exist perturbations of larger size than this bound which are still stabilized. In the present work, the authors examine perturbations in certain 'key' directions whose sizes are larger than the robustness margin but do not destabilize the plant.<>
{"title":"Robust stabilization in the presence of coprime factor perturbations","authors":"James Sefton, Raimund J. Ober, Keith Glover","doi":"10.1109/CDC.1990.203796","DOIUrl":"https://doi.org/10.1109/CDC.1990.203796","url":null,"abstract":"The robust stabilization problem first suggested by M. Vidyasagar (1986) is considered. The authors examine uncertainty in the nominal system modeled by additive perturbations on the coprime factors of the system. It is demonstrated that the bound on the admissible uncertainty in D. McFarlane and K. Glover (1989) is restrictive in that there exist perturbations of larger size than this bound which are still stabilized. In the present work, the authors examine perturbations in certain 'key' directions whose sizes are larger than the robustness margin but do not destabilize the plant.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"57 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":"125377888","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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