Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792734
Shaohua Niu, D. Fisher
Two least-squares-type UD factorization algorithms are proposed which update only part of the covariance matrix and parameter vector during each identification interval. This reduces the computational load per interval but still provides good parameter estimates for slowly varying systems. The algorithms are particularly well suited for applications where a large number of parameters must be estimated, e.g., for MIMO models and/or direct identification of step-response parameters.
{"title":"Sequential and Partial Updating of Parameters During Estimation","authors":"Shaohua Niu, D. Fisher","doi":"10.23919/ACC.1992.4792734","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792734","url":null,"abstract":"Two least-squares-type UD factorization algorithms are proposed which update only part of the covariance matrix and parameter vector during each identification interval. This reduces the computational load per interval but still provides good parameter estimates for slowly varying systems. The algorithms are particularly well suited for applications where a large number of parameters must be estimated, e.g., for MIMO models and/or direct identification of step-response parameters.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"102 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":"122993283","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.1992.4175501
Q. Xia, M. Rao, Y.X. Sun, Y. Ying
This paper investigates fault-tolerance of linear quadratic optimal systems. Fault-tolerance is defined as the bound of allowable sensor and actuator gain degradations to maintain stability. Quantitative results for fault-tolerance are obtained using Lyapunov matrix equation solutions. A relation is established between the fualt-tolerance and the prespecified stability degree ¿ and weighting matrix Q in cost function. An iterative algorithm is developed to design the system of the highest fault-tolerance.
{"title":"Fault-Tolerance of Linear Quadratic Optimal Systems","authors":"Q. Xia, M. Rao, Y.X. Sun, Y. Ying","doi":"10.1109/ACC.1992.4175501","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175501","url":null,"abstract":"This paper investigates fault-tolerance of linear quadratic optimal systems. Fault-tolerance is defined as the bound of allowable sensor and actuator gain degradations to maintain stability. Quantitative results for fault-tolerance are obtained using Lyapunov matrix equation solutions. A relation is established between the fualt-tolerance and the prespecified stability degree ¿ and weighting matrix Q in cost function. An iterative algorithm is developed to design the system of the highest fault-tolerance.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"98 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":"114595173","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.1992.4792358
M. Lei, B. Ghosh
This paper describes a method to determine rigid body motion using straight line correspondences. It is assumed that the body has features in the form of parallel line segments. Our method relies on the observation of two pairs of parallel lines over three frames. By introduction of plücker coordinates of a line in R3, the motion of the line is easly modeled, and the line-based computation of motion parameters can be carried out with algorithms which only involve linear or quadratic equations.
{"title":"New Geometric Methods in Computing the Motion Parameters of A Rigid Body Using Line Correspondences","authors":"M. Lei, B. Ghosh","doi":"10.23919/ACC.1992.4792358","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792358","url":null,"abstract":"This paper describes a method to determine rigid body motion using straight line correspondences. It is assumed that the body has features in the form of parallel line segments. Our method relies on the observation of two pairs of parallel lines over three frames. By introduction of plücker coordinates of a line in R3, the motion of the line is easly modeled, and the line-based computation of motion parameters can be carried out with algorithms which only involve linear or quadratic equations.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"78 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":"117000911","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.1992.4175664
Shuoh Rern, P. Kabamba
A new sufficient condition for the existence of a positive definite solution to the linear modified Lyapunov equation is derived. With an additional mild assumption this condition is also proven necessary. Based on this result, the largest size of uncertainty for which a given feedback leads to robust stabilization based on the linear modified Lyapunov equation is expressed in closed form. This radius is proven equal to the reciprocal of the largest positive real eigenvalue of a specific "guarding matrix".
{"title":"Conditions for the Existence of a Positive Definite Solution to the Linear Modified Lyapunov Equation","authors":"Shuoh Rern, P. Kabamba","doi":"10.1109/ACC.1992.4175664","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175664","url":null,"abstract":"A new sufficient condition for the existence of a positive definite solution to the linear modified Lyapunov equation is derived. With an additional mild assumption this condition is also proven necessary. Based on this result, the largest size of uncertainty for which a given feedback leads to robust stabilization based on the linear modified Lyapunov equation is expressed in closed form. This radius is proven equal to the reciprocal of the largest positive real eigenvalue of a specific \"guarding matrix\".","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"4 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":"117309915","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.1992.4792197
Christopher Lin, P. Kalata
An optimal filtering solution is presented for the continuous time target tracking problem. The Tracking Index (the target maneuverability to the sensor measurement uncertainty ratio) is found to have fundamental role in the optimal steady-state solution. The Tracking Index solution yields a closed form, consistent set of tracking gains, relationships, and performances. The resulting continuous time stochastic regulators are termed ¿c-ßc or ¿c-ßc-¿c target trackers (depending on the tracking order) [15]. For discrete time measurement, the discrete target trackers are defined based on the discrete Tracking Index [10]; however, the process presented in this paper deals with specific models of target maneuvers: velocity, acceleration and jerk. The Tracking Index is dependent on fundamental characteristics of the tracking problem: the track period, measurement noise, target maneuverability and tracker order.
{"title":"The Tracking Index for Continuous Target Trackers","authors":"Christopher Lin, P. Kalata","doi":"10.23919/ACC.1992.4792197","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792197","url":null,"abstract":"An optimal filtering solution is presented for the continuous time target tracking problem. The Tracking Index (the target maneuverability to the sensor measurement uncertainty ratio) is found to have fundamental role in the optimal steady-state solution. The Tracking Index solution yields a closed form, consistent set of tracking gains, relationships, and performances. The resulting continuous time stochastic regulators are termed ¿c-ßc or ¿c-ßc-¿c target trackers (depending on the tracking order) [15]. For discrete time measurement, the discrete target trackers are defined based on the discrete Tracking Index [10]; however, the process presented in this paper deals with specific models of target maneuvers: velocity, acceleration and jerk. The Tracking Index is dependent on fundamental characteristics of the tracking problem: the track period, measurement noise, target maneuverability and tracker order.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"34 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":"129719812","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.1992.4792224
R. Rajagopalan, R. Cheng, S. LeQuoc
This paper presents a feed forward control scheme for AGV guidance employing a knowledge-base. The function of this control scheme is to identify the geometric nature of the track and guide the vehicle accordingly. In addition to this, guidance is carried out based on the requirement of positioning the AGV relative to the track profile, i.e. desired values of the position and orientation offsets of the longitudinal axis of the vehicle relative to the track are established. Hence this guidance control scheme provides flexibility in terms of specifying which part of the AGV body has to follow the track. Since vehicle guidance is based on the feedback information from the sensors over a period of time, accurate track following of a larger segment of the track is achieved. Mathematical formulations are presented to identify the track geometry and to compute the desired values of the position and orientation offsets using the sensor data and a mathematical description of the vehicle geometry.
{"title":"Guidance Control Scheme Employing Knowledge-Base for AGV Navigation","authors":"R. Rajagopalan, R. Cheng, S. LeQuoc","doi":"10.23919/ACC.1992.4792224","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792224","url":null,"abstract":"This paper presents a feed forward control scheme for AGV guidance employing a knowledge-base. The function of this control scheme is to identify the geometric nature of the track and guide the vehicle accordingly. In addition to this, guidance is carried out based on the requirement of positioning the AGV relative to the track profile, i.e. desired values of the position and orientation offsets of the longitudinal axis of the vehicle relative to the track are established. Hence this guidance control scheme provides flexibility in terms of specifying which part of the AGV body has to follow the track. Since vehicle guidance is based on the feedback information from the sensors over a period of time, accurate track following of a larger segment of the track is achieved. Mathematical formulations are presented to identify the track geometry and to compute the desired values of the position and orientation offsets using the sensor data and a mathematical description of the vehicle geometry.","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":"128256677","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.1992.4792253
Dingyu Xue, D. Atherton
In this paper an approximate analysis approach for high order nonlinear systems driven by Gaussian white noise is presented. The algorithm is based on the exact solution to the Fokker-Planck equation of a second order system and as optimal model reduction technique. An illustrative example is given to show the appication of this approximate approach from which it can be seen that the accuracy of the method is better than that of the random describing function method.
{"title":"Approximate Analysis of Nonlinear Systems Driven by Gaussian White Noise","authors":"Dingyu Xue, D. Atherton","doi":"10.23919/ACC.1992.4792253","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792253","url":null,"abstract":"In this paper an approximate analysis approach for high order nonlinear systems driven by Gaussian white noise is presented. The algorithm is based on the exact solution to the Fokker-Planck equation of a second order system and as optimal model reduction technique. An illustrative example is given to show the appication of this approximate approach from which it can be seen that the accuracy of the method is better than that of the random describing function method.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"40 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":"128560465","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.1992.4792574
B. Wie, Qiang Liu
The primry contrl objective of Probtem #4 in [1] is to achieve a fast settling time with minmum of stnrtral mod vibratios in the prenc of limited actuator capalty and platm unceainty. A ro msfied edsrard control approach (2-31 is applied to Problem #4 and se p minary results are presentd We discu the optimal performance achievabe by an ideal time optimal control a h and its performance degrdation due to paramete variations. We then preset a robustified open-loop approach followed by a robustified feedfoward/feedback approach.
{"title":"A Robustified Feedforward/Feedback Control Approach to Benchmark Problem #4","authors":"B. Wie, Qiang Liu","doi":"10.23919/ACC.1992.4792574","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792574","url":null,"abstract":"The primry contrl objective of Probtem #4 in [1] is to achieve a fast settling time with minmum of stnrtral mod vibratios in the prenc of limited actuator capalty and platm unceainty. A ro msfied edsrard control approach (2-31 is applied to Problem #4 and se p minary results are presentd We discu the optimal performance achievabe by an ideal time optimal control a h and its performance degrdation due to paramete variations. We then preset a robustified open-loop approach followed by a robustified feedfoward/feedback approach.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"130 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":"128572567","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.1992.4792092
O. Masory, Jian Wang
A CNC contouring system in which each axis is driven by a two-stage actuation system, where the first stage is a DC servo drive and the second one is piezoelectric microactuator, is discussed. In this system, the contour error, caused by the first stage due to dynamic response diferences between the axes, is decomposed to components which are used as position references for the second stage of each axis. With this arrangement the required travel of the second stage is kept within the travel range of the microactuator. Additional velocity feed-forward loop was added to the first stage which substantially reduces the contour error and thus the travel range requirement from the microactuator. Simulation studies show that the proposed controller has superior performance compared with current control schemes.
{"title":"Two-Stage Actuation Control System for CNC Contouring Systems","authors":"O. Masory, Jian Wang","doi":"10.23919/ACC.1992.4792092","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792092","url":null,"abstract":"A CNC contouring system in which each axis is driven by a two-stage actuation system, where the first stage is a DC servo drive and the second one is piezoelectric microactuator, is discussed. In this system, the contour error, caused by the first stage due to dynamic response diferences between the axes, is decomposed to components which are used as position references for the second stage of each axis. With this arrangement the required travel of the second stage is kept within the travel range of the microactuator. Additional velocity feed-forward loop was added to the first stage which substantially reduces the contour error and thus the travel range requirement from the microactuator. Simulation studies show that the proposed controller has superior performance compared with current control schemes.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"68 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":"128640904","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.1992.4792350
Sanjeev M. Naik, P. Kumar
Recently, global convergence and parameter consistency of a certain parallel model adaptation algorithm in the presence of additive colored noise was established in [1]. In this paper, we examine the robustness of this algorithm, whose design is based on stochastic considerations, to bounded disturbances and unmodeled dynamics. We show that this algorithm is robust with respect to bounded disturbances and unmodeled dynamics whenever the denominator polynomial of the nominal model satisfies a strictly positive real (SPR) condition. We also show that the admissible class of unmodeled dynamics allows the true system to violate such an SPR condition. Similar robustness results are also proved for a non-vanishing gain update law.
{"title":"Adaptive IIR Filtering and Output Error Identification: Robustness Analysis","authors":"Sanjeev M. Naik, P. Kumar","doi":"10.23919/ACC.1992.4792350","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792350","url":null,"abstract":"Recently, global convergence and parameter consistency of a certain parallel model adaptation algorithm in the presence of additive colored noise was established in [1]. In this paper, we examine the robustness of this algorithm, whose design is based on stochastic considerations, to bounded disturbances and unmodeled dynamics. We show that this algorithm is robust with respect to bounded disturbances and unmodeled dynamics whenever the denominator polynomial of the nominal model satisfies a strictly positive real (SPR) condition. We also show that the admissible class of unmodeled dynamics allows the true system to violate such an SPR condition. Similar robustness results are also proved for a non-vanishing gain update law.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"15 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":"128648025","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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