Pub Date : 1992-06-24DOI: 10.1109/ACC.1992.4175757
S. Grime, H. Durrant-Whyte, P. Ho
This paper addresses the problem of communication in decentralized data fusion systems. We consider sensor networks in which there is no central fusion center and in which no single sensor node has global knowledge of network topology, only communicating to its nearest neighbours.
{"title":"Communication in Decentralized Data-Fusion Systems","authors":"S. Grime, H. Durrant-Whyte, P. Ho","doi":"10.1109/ACC.1992.4175757","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175757","url":null,"abstract":"This paper addresses the problem of communication in decentralized data fusion systems. We consider sensor networks in which there is no central fusion center and in which no single sensor node has global knowledge of network topology, only communicating to its nearest neighbours.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125334863","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}
Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792447
Sinn-Cheng Lin, C. Kung
A fuzzy-sliding mode controller (FSC) which combines a fuzzy controller (FC) with a variable structure controller (VSC) is proposed. It has a fuzzy-sliding motion similar to the conventional sliding motion of the VSC. The distinction between them is that the switching hyperpiane is a fuzzy set in the former and is a crisp set in the latter. By the FSC, one can easily determine the membership functions and the fuzzy rules. Moreover, the behavior of the controlled system can be specified beforehand.
{"title":"A Linguistic Fuzzy-Sliding Mode Controller","authors":"Sinn-Cheng Lin, C. Kung","doi":"10.23919/ACC.1992.4792447","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792447","url":null,"abstract":"A fuzzy-sliding mode controller (FSC) which combines a fuzzy controller (FC) with a variable structure controller (VSC) is proposed. It has a fuzzy-sliding motion similar to the conventional sliding motion of the VSC. The distinction between them is that the switching hyperpiane is a fuzzy set in the former and is a crisp set in the latter. By the FSC, one can easily determine the membership functions and the fuzzy rules. Moreover, the behavior of the controlled system can be specified beforehand.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125379993","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}
Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792324
D. Ridgely, C. Mracek, L. Valavani
The necessary conditions for the nonconservative solution of the mixed H2/H∞ optimization problem have been presented. It was found that, for a controller of the same order as the plant, these conditions require a neutrally stablizing solution to a Riccati equation and a solution to a Lyapunov equation which has no unique solution. This paper develops a method for solving a suboptimal problem that converges to the true mixed solution while requiring only stabilizing solutions to Riccati equations and unique solutions to Lyapunov equations. Two numerical examples are presented. The numerical solution technique is based on the Davidon-Fletcher-Powell algorithm.
{"title":"Numerical solution of the general mixed H2/H∞ optimization problem","authors":"D. Ridgely, C. Mracek, L. Valavani","doi":"10.23919/ACC.1992.4792324","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792324","url":null,"abstract":"The necessary conditions for the nonconservative solution of the mixed H2/H∞ optimization problem have been presented. It was found that, for a controller of the same order as the plant, these conditions require a neutrally stablizing solution to a Riccati equation and a solution to a Lyapunov equation which has no unique solution. This paper develops a method for solving a suboptimal problem that converges to the true mixed solution while requiring only stabilizing solutions to Riccati equations and unique solutions to Lyapunov equations. Two numerical examples are presented. The numerical solution technique is based on the Davidon-Fletcher-Powell algorithm.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126605316","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}
Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792277
Lin Shi, Sunil K. Singh
Dectralized controller design for large-scale uncertain systems with higher-order uncertainties is investigated. The uncertainties are assumed to be bounded by a knows or unknown pth-order polynomial in states. A non-adaptive controller is proposed to handle the case when the pth-order polynomial is known. An adaptive controller is proposed to deal with the unknown case. The effectiveness of the proposed decentralized control schemes is demonstrated by a numerical simulation of two inverted pendulums on carts.
{"title":"Decentralized Control For Interconnected Uncertain Systems: Extensions To Higher-Order Uncertainties","authors":"Lin Shi, Sunil K. Singh","doi":"10.23919/ACC.1992.4792277","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792277","url":null,"abstract":"Dectralized controller design for large-scale uncertain systems with higher-order uncertainties is investigated. The uncertainties are assumed to be bounded by a knows or unknown pth-order polynomial in states. A non-adaptive controller is proposed to handle the case when the pth-order polynomial is known. An adaptive controller is proposed to deal with the unknown case. The effectiveness of the proposed decentralized control schemes is demonstrated by a numerical simulation of two inverted pendulums on carts.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114960114","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}
Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792506
H. Wang, S. Daley
This paper presents a fault detection and diagnosis method for unknown systems with unknown input. Using the same formulation as described in [1], a residual signal is formed which is independent of the unknown input but dependent on the unknown system parameters and the measurements. An identification algorithm with an improved modification procedure for the covariance matrix is obtained and is then used to track parameter changes caused by system faults. The method is demonstrated through its application to a hydraulic turbine generating unit.
{"title":"Application of a Fault Detection and Diagnosis Method for Unknown Systems with Unknown Input","authors":"H. Wang, S. Daley","doi":"10.23919/ACC.1992.4792506","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792506","url":null,"abstract":"This paper presents a fault detection and diagnosis method for unknown systems with unknown input. Using the same formulation as described in [1], a residual signal is formed which is independent of the unknown input but dependent on the unknown system parameters and the measurements. An identification algorithm with an improved modification procedure for the covariance matrix is obtained and is then used to track parameter changes caused by system faults. The method is demonstrated through its application to a hydraulic turbine generating unit.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"189 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115183403","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}
Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792612
Sheng Liu, H. Asada
A new method for building a task-level robot adaptive controller is presented. Based on human demonstration data, an adaptive control law that elucidates skillful human behavior is extracted and used for building a robot control system. This allows us to transfer, directly from the human to the robot, the ability to adapt to unknown, varying environments by monitoring changes and modifying control parameters accordingly. A functional relationship is formulated and identified from demonstration data that represents the relationship between what the human monitors in the task environment and what changes in control are made in response to the change in the task environment. A critical problem in identifying this adaptation law is to determine what a human detects in the task environment in order to make a control decision. Namely, the input space of human perception must be determined. In this paper, an efficient method for determining a sufficient set of input variables is presented. The method, based on the Lipschitz quotient, allows us to detect any lack of essential quantities in the input space without assuming any model or representation of the input-output relationship. The method is applied to robotic deburring, in which feedrate and compliance must be varied depending on the task environment, e.g., burr size and hardness. Data acquired from human deburring demonstrations are analyzed by using the Lipschitz quotient.
{"title":"Transfer of Human Skills to Robots: Learning from Human Demonstrations for Building an Adaptive Control System","authors":"Sheng Liu, H. Asada","doi":"10.23919/ACC.1992.4792612","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792612","url":null,"abstract":"A new method for building a task-level robot adaptive controller is presented. Based on human demonstration data, an adaptive control law that elucidates skillful human behavior is extracted and used for building a robot control system. This allows us to transfer, directly from the human to the robot, the ability to adapt to unknown, varying environments by monitoring changes and modifying control parameters accordingly. A functional relationship is formulated and identified from demonstration data that represents the relationship between what the human monitors in the task environment and what changes in control are made in response to the change in the task environment. A critical problem in identifying this adaptation law is to determine what a human detects in the task environment in order to make a control decision. Namely, the input space of human perception must be determined. In this paper, an efficient method for determining a sufficient set of input variables is presented. The method, based on the Lipschitz quotient, allows us to detect any lack of essential quantities in the input space without assuming any model or representation of the input-output relationship. The method is applied to robotic deburring, in which feedrate and compliance must be varied depending on the task environment, e.g., burr size and hardness. Data acquired from human deburring demonstrations are analyzed by using the Lipschitz quotient.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"187 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116449092","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}
Pub Date : 1992-06-24DOI: 10.1109/ACC.1992.4175077
D. Kavranoğlu, M. Bettayeb
A direct state-space solution to the discrete-time Hankel norm model reduction problem, based on recently developed results by the authors for the one-block H¿ problem, is derived. A complete characterization of all solutions to the suboptimal Hankel norm model reduction problem is given.
{"title":"Direct State-Space Solutions to the Discrete-Time Hankel Norm Model Reduction Problem","authors":"D. Kavranoğlu, M. Bettayeb","doi":"10.1109/ACC.1992.4175077","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175077","url":null,"abstract":"A direct state-space solution to the discrete-time Hankel norm model reduction problem, based on recently developed results by the authors for the one-block H¿ problem, is derived. A complete characterization of all solutions to the suboptimal Hankel norm model reduction problem is given.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116528711","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}
Pub Date : 1992-06-24DOI: 10.1109/ACC.1992.4175677
C. Antonini
We present a technique that allows to find a regulator to make a linear system satisfy control and output l1-norm bounds and, modifying them, to achieve a desired H∞-norm of the disturbance to output transfer function. We'll show that we cannot independently define the H∞ (frequency) and l1 (time-domain) bounds.
{"title":"Guaranteed control and output bounds with LEB regulators and their H∞ disturbance rejection","authors":"C. Antonini","doi":"10.1109/ACC.1992.4175677","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175677","url":null,"abstract":"We present a technique that allows to find a regulator to make a linear system satisfy control and output l<sub>1</sub>-norm bounds and, modifying them, to achieve a desired H<sub>∞</sub>-norm of the disturbance to output transfer function. We'll show that we cannot independently define the H<sub>∞</sub> (frequency) and l<sub>1</sub> (time-domain) bounds.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122338125","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}
Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792232
M. Sakr
One of the main objectives of feedback control is to obtain a robust system that can provide accurate control in the presence of large variations in parameters. Adaptive controllers are used for such a purpose but mainly they require extensive computations and may not compensate large uncertainties in the system parameters. This paper presents a new approach for robust control. The developed concept is illustrated using a DC servo motor control system. An auxiliary compensating loop is developed to provide a stabilizing signal that eliminates the effect of system parameters variation while at the same time the primary servo controller is in action. The stabilizing signal is calculated using a simple and straight forward control law. The results obtained from system simulation illustrate clearly the effectiveness of the proposed scheme under large parameter variations in servo motor. The system with the suggested controller exhibits robust behaviour for variations in both the effective inertia and friction. The closed loop roots showed minimum sensitivity under large system parameter variations.
{"title":"Robust Controller for Servo Systems","authors":"M. Sakr","doi":"10.23919/ACC.1992.4792232","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792232","url":null,"abstract":"One of the main objectives of feedback control is to obtain a robust system that can provide accurate control in the presence of large variations in parameters. Adaptive controllers are used for such a purpose but mainly they require extensive computations and may not compensate large uncertainties in the system parameters. This paper presents a new approach for robust control. The developed concept is illustrated using a DC servo motor control system. An auxiliary compensating loop is developed to provide a stabilizing signal that eliminates the effect of system parameters variation while at the same time the primary servo controller is in action. The stabilizing signal is calculated using a simple and straight forward control law. The results obtained from system simulation illustrate clearly the effectiveness of the proposed scheme under large parameter variations in servo motor. The system with the suggested controller exhibits robust behaviour for variations in both the effective inertia and friction. The closed loop roots showed minimum sensitivity under large system parameter variations.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122747829","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}
Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792270
E. Geddes, I. Postlethwaite
We consider the problem of achieving robust stability in the face of input and output multiplicative uncertainties and show how it is related to the problem of achieving robust stability in the gap metric. The problem of robustness in the weighted gap metric is then addressed and it is shown how we may design against structured uncertainty by an appropriate choice of weights. The problem of optimal weighted gap robustness is formulated. This problem can be solved approximately using Doyle's D-K iteration.
{"title":"The Weighted Gap Metric and Structured Uncertainty","authors":"E. Geddes, I. Postlethwaite","doi":"10.23919/ACC.1992.4792270","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792270","url":null,"abstract":"We consider the problem of achieving robust stability in the face of input and output multiplicative uncertainties and show how it is related to the problem of achieving robust stability in the gap metric. The problem of robustness in the weighted gap metric is then addressed and it is shown how we may design against structured uncertainty by an appropriate choice of weights. The problem of optimal weighted gap robustness is formulated. This problem can be solved approximately using Doyle's D-K iteration.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122910373","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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