Pub Date : 1992-06-24DOI: 10.23919/ACC.1992.4792754
B.M. Diong, J. Medanic
This paper considers state feedback simplex control of a linear system affected by disturbances and uncertainties that do not satisfy the matching condition. To achieve robust stabilization and performance, several procedures are proposed whereby the desired sliding hypersurface is designed using Algebraic Riccati Equations (AREs) to bound disturbance effects in the sliding regime. These procedures for designing the sliding hypersurface can also be used in conjunction with any other Variable Structure Control (VSC) scheme that assures the reaching of a sliding mode.
{"title":"State feedback simplex control design for systems with non-matching disturbances and uncertainties","authors":"B.M. Diong, J. Medanic","doi":"10.23919/ACC.1992.4792754","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792754","url":null,"abstract":"This paper considers state feedback simplex control of a linear system affected by disturbances and uncertainties that do not satisfy the matching condition. To achieve robust stabilization and performance, several procedures are proposed whereby the desired sliding hypersurface is designed using Algebraic Riccati Equations (AREs) to bound disturbance effects in the sliding regime. These procedures for designing the sliding hypersurface can also be used in conjunction with any other Variable Structure Control (VSC) scheme that assures the reaching of a sliding mode.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"91 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133876202","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.1992.4792417
S. Deb, K. Pattipati, Y. Bar-Shalom
In this paper we present an algorithm to solve the static problem of associating data from three spatially distributed heterogeneous sensors, each with a set of detections at the same time. The sensors could be active (3D or 2D radars) or passive (EO sensors measuring the azimuth and elevation angles of the source). The source of a detection can be either a real target, in which case the measurement is the true observation variable of the target plus measurement noise, or a spurious one, i.e., a false alarm. In addition, the sensors may have nonunity detection probabilities. The problem is to associate the measurements from the sensors to identify the "real" targets, and to obtain their position estimates. Mathematically, this (static) measurement-target association problem leads to a generalized three-dimensional (3-D) matching problem, which is known to be NP-hard. In this paper, we present a fast, but near-optimal 3-D matching algorithm suited for estimating the positions of a large number of targets (≫50) in a dense cluster for real-time applications. Performance results on several representative test cases solved by the algorithm are presented.
{"title":"A Multisensor-Multitarget Data Association Algorithm for Heterogeneous Sensors","authors":"S. Deb, K. Pattipati, Y. Bar-Shalom","doi":"10.23919/ACC.1992.4792417","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792417","url":null,"abstract":"In this paper we present an algorithm to solve the static problem of associating data from three spatially distributed heterogeneous sensors, each with a set of detections at the same time. The sensors could be active (3D or 2D radars) or passive (EO sensors measuring the azimuth and elevation angles of the source). The source of a detection can be either a real target, in which case the measurement is the true observation variable of the target plus measurement noise, or a spurious one, i.e., a false alarm. In addition, the sensors may have nonunity detection probabilities. The problem is to associate the measurements from the sensors to identify the \"real\" targets, and to obtain their position estimates. Mathematically, this (static) measurement-target association problem leads to a generalized three-dimensional (3-D) matching problem, which is known to be NP-hard. In this paper, we present a fast, but near-optimal 3-D matching algorithm suited for estimating the positions of a large number of targets (≫50) in a dense cluster for real-time applications. Performance results on several representative test cases solved by the algorithm are presented.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"30 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":"131498341","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.1992.4792377
M. Zohdy, Slawomir T. Fryska
This paper presents a simple piecewise linear, two-degrees of freedom, differential active damper mechanical system, derived from an analogy to an electrical circuit. Analytical solutions for the state trajectory of this system are derived and discussed. Three different methods of quantifying the complicated chaotic dynamic behavior of the system are compared on the basis of their accuracy in estimating the regions of chaotic behavior. The concept of mean correlation delay function (MCD) is introduced as a simple and efficient quantifier of chaotic motion in deterministic systems with known absence of stochastic inputs.
{"title":"Quantitative Study of Chaos in a Piecewise Linear Mechanical System","authors":"M. Zohdy, Slawomir T. Fryska","doi":"10.23919/ACC.1992.4792377","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792377","url":null,"abstract":"This paper presents a simple piecewise linear, two-degrees of freedom, differential active damper mechanical system, derived from an analogy to an electrical circuit. Analytical solutions for the state trajectory of this system are derived and discussed. Three different methods of quantifying the complicated chaotic dynamic behavior of the system are compared on the basis of their accuracy in estimating the regions of chaotic behavior. The concept of mean correlation delay function (MCD) is introduced as a simple and efficient quantifier of chaotic motion in deterministic systems with known absence of stochastic inputs.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"278 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":"127552921","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.1992.4792193
J. Perkins, P. Kumar
We examine the form of the steady-state probability distribution, when a buffer level control is applied to an unreliable manufacturing system. We demonstrate how the internal dynamics of part flow in the network can lead to discontinuities in the probability densities.
{"title":"Buffer Level Control of Unreliable Manufacturing Systems","authors":"J. Perkins, P. Kumar","doi":"10.23919/ACC.1992.4792193","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792193","url":null,"abstract":"We examine the form of the steady-state probability distribution, when a buffer level control is applied to an unreliable manufacturing system. We demonstrate how the internal dynamics of part flow in the network can lead to discontinuities in the probability densities.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"47 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":"132619212","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.1992.4175159
Y. Kuroe, K. Okada
In this paper we present a general approach to the analysis problem of quantization errors in digital control systems using floating point arithmetic. The closed form of the description of system errors due to quantization is derived for the general class of linear digital control systems. We consider almost all kinds of quantization errors which may occur in general digital control systems; truncation or roundoff quantization errors of A/D and D/A conversions, and truncation or roundoff errors in arithmetic operations. We also develop a method to estimate the influence of the order of the arithmetic steps of control algorithms implemented in digital controllers on quantization errors. A mathematical description of the order of arithmetic steps in digital controller is introduced. The validity of the proposed analysis is comfirmed through numerical experiments.
{"title":"Analysis of Floating-Point Quantization Errors in Digital Control Systems: Influence of The Order of Arithmetic Steps in Controller","authors":"Y. Kuroe, K. Okada","doi":"10.1109/ACC.1992.4175159","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175159","url":null,"abstract":"In this paper we present a general approach to the analysis problem of quantization errors in digital control systems using floating point arithmetic. The closed form of the description of system errors due to quantization is derived for the general class of linear digital control systems. We consider almost all kinds of quantization errors which may occur in general digital control systems; truncation or roundoff quantization errors of A/D and D/A conversions, and truncation or roundoff errors in arithmetic operations. We also develop a method to estimate the influence of the order of the arithmetic steps of control algorithms implemented in digital controllers on quantization errors. A mathematical description of the order of arithmetic steps in digital controller is introduced. The validity of the proposed analysis is comfirmed through numerical experiments.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"5 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":"130767407","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.1992.4792256
A. Ray, L. Liou, N. Tsai
A state estimation and state feedback control law has been formulated in a stochastic setting, based on the principles of minimum variance filtering and dynamic programming, for application to processes that are subjected to randomly varying distributed delays. The proposed estimation and control law for delay compensation is formulated on the concept of the Linear Quadratic Gaussian (LQG), hereafter called Extended Linear Quadratic Gaussian (ELQG). Although the certainty equivalence property of LQG does not hold for ELQG in general, the combined state estimation and state feedback approach of ELQG offers a suboptimal solution to control of randomly delayed processes. Specifically, ELQG is applicable to analysis and synthesis of Integrated Communication and Control Systems (ICCS) for vehicle management of future generation aircraft and autonomous vehicles where a computer network is employed for distributed processing and on-line information exchange between diverse control and decision-making functions. Results of simulation experiments are presented to demonstrate the efficacy of the ELQG algorithm for flight control of an advanced aircraft.
{"title":"Extended Linear Quadratic Gaussian Control under Randomly Varying Distributed Delays","authors":"A. Ray, L. Liou, N. Tsai","doi":"10.23919/ACC.1992.4792256","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792256","url":null,"abstract":"A state estimation and state feedback control law has been formulated in a stochastic setting, based on the principles of minimum variance filtering and dynamic programming, for application to processes that are subjected to randomly varying distributed delays. The proposed estimation and control law for delay compensation is formulated on the concept of the Linear Quadratic Gaussian (LQG), hereafter called Extended Linear Quadratic Gaussian (ELQG). Although the certainty equivalence property of LQG does not hold for ELQG in general, the combined state estimation and state feedback approach of ELQG offers a suboptimal solution to control of randomly delayed processes. Specifically, ELQG is applicable to analysis and synthesis of Integrated Communication and Control Systems (ICCS) for vehicle management of future generation aircraft and autonomous vehicles where a computer network is employed for distributed processing and on-line information exchange between diverse control and decision-making functions. Results of simulation experiments are presented to demonstrate the efficacy of the ELQG algorithm for flight control of an advanced aircraft.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"56 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":"130772930","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.1992.4175541
David J. Holloway, P. Tai, H. Ryaciotaki-Boussalis
Neural network and fuzzy logic control systems share many common characteristics and properties. They can be implemented into Practical applications either independently or in combined network topologies. This paper will compare and constrast their differences with emphasis on control system applications. It will also consider some of the benefits that can be derived by integrating the two network configurations into combined systems. The combination of systems resonbles an adaptive system with sensory and cognitive components as the neural perameter estimators embed directly in an overall fuzzy architecture.
{"title":"A Comparison of Neural Network and Fuzzy Logic Control Systems","authors":"David J. Holloway, P. Tai, H. Ryaciotaki-Boussalis","doi":"10.1109/ACC.1992.4175541","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175541","url":null,"abstract":"Neural network and fuzzy logic control systems share many common characteristics and properties. They can be implemented into Practical applications either independently or in combined network topologies. This paper will compare and constrast their differences with emphasis on control system applications. It will also consider some of the benefits that can be derived by integrating the two network configurations into combined systems. The combination of systems resonbles an adaptive system with sensory and cognitive components as the neural perameter estimators embed directly in an overall fuzzy architecture.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"80 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":"130780636","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.1992.4792601
J. Astorga
In this paper a synthesis technique is developed for the design of a robust linear controller to control a system which is characterized by structured nonlinearities and has external disturbance of finite spectrum. The design method assures the robust stabilization of the system and guarantees a bound to the induced norm of the operator between the disturbance vector and the output vector. The relevant design equations are developed for state feedback and output feedback controllers.
{"title":"Control and Stability of Systems with Structured Nonlinearity","authors":"J. Astorga","doi":"10.23919/ACC.1992.4792601","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792601","url":null,"abstract":"In this paper a synthesis technique is developed for the design of a robust linear controller to control a system which is characterized by structured nonlinearities and has external disturbance of finite spectrum. The design method assures the robust stabilization of the system and guarantees a bound to the induced norm of the operator between the disturbance vector and the output vector. The relevant design equations are developed for state feedback and output feedback controllers.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"1 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":"131064606","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.1992.4792300
K. Gilpin, M. Athans, J. Bokor
A method of obtaining a uniquely identifiable, minimal, multi input multi output (MIMO) state space model is presented. The state space model is constructed from the matrix partial fraction expansion of the system transfer function matrix by using a dyadic decomposition of the matrix partial fraction expansion residue matrices. The advantages of using this approach are explored from the theoretical as well as the pragmatic point of view. The method is employed in the identification of a very lightly damped structure, a tetrahedral interferometer testbed truss, which is to be used for vibration control.
{"title":"Multivariable Identification of the MIT Interferometer Testbed","authors":"K. Gilpin, M. Athans, J. Bokor","doi":"10.23919/ACC.1992.4792300","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792300","url":null,"abstract":"A method of obtaining a uniquely identifiable, minimal, multi input multi output (MIMO) state space model is presented. The state space model is constructed from the matrix partial fraction expansion of the system transfer function matrix by using a dyadic decomposition of the matrix partial fraction expansion residue matrices. The advantages of using this approach are explored from the theoretical as well as the pragmatic point of view. The method is employed in the identification of a very lightly damped structure, a tetrahedral interferometer testbed truss, which is to be used for vibration control.","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":"133118372","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.1992.4792108
R. Bollich, M. A. Hobdy, M. Rabins
The development of the design and fabrication for a five degree of freedom rig of symmetrically coupled pendula for testing and corroborating mode localization theory is described. The background theory on mode localization and the theory of the modal responses of the test rig are briefly covered. Instrumentation and data-analysis techniques are discussed. Test results corroborating mode localization effects achieved by perturbing the system symmetry are presented. The serendipitous capability of the system to be used as a teaching device in vibration or dynamic system analysis classes, using TV tapes of the five separately excited natural modes (by initial conditions or forcing function frequency) is also demonstrated.
{"title":"Multi-Pendulum Rig: Proof of Mode Localization and Laboratory Demonstration Tool","authors":"R. Bollich, M. A. Hobdy, M. Rabins","doi":"10.23919/ACC.1992.4792108","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792108","url":null,"abstract":"The development of the design and fabrication for a five degree of freedom rig of symmetrically coupled pendula for testing and corroborating mode localization theory is described. The background theory on mode localization and the theory of the modal responses of the test rig are briefly covered. Instrumentation and data-analysis techniques are discussed. Test results corroborating mode localization effects achieved by perturbing the system symmetry are presented. The serendipitous capability of the system to be used as a teaching device in vibration or dynamic system analysis classes, using TV tapes of the five separately excited natural modes (by initial conditions or forcing function frequency) is also demonstrated.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"290 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":"133141769","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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