Summary form only given. The issue of dynamically scheduling multiple LTI (linear-time-invariant) controllers, designed using H/sub infinity // mu techniques, for systems with widely varying plant dynamics has been examined. The observer/full-state feedback structure of the LTI H/sub infinity / controller has been extended to accommodate the time-varying, nonlinear dynamics problem. A procedure for handling the variations in the 2-Riccati equation solutions that occur between fixed operating points has been proposed. An example missile control problem, which contains realistic and necessary performance goals and robustness constraints, has been used to demonstrate the viability of the proposed approach.<>
{"title":"Dynamic scheduling of modern-robust-control autopilot designs for missiles","authors":"R. Reichert","doi":"10.1109/37.158896","DOIUrl":"https://doi.org/10.1109/37.158896","url":null,"abstract":"Summary form only given. The issue of dynamically scheduling multiple LTI (linear-time-invariant) controllers, designed using H/sub infinity // mu techniques, for systems with widely varying plant dynamics has been examined. The observer/full-state feedback structure of the LTI H/sub infinity / controller has been extended to accommodate the time-varying, nonlinear dynamics problem. A procedure for handling the variations in the 2-Riccati equation solutions that occur between fixed operating points has been proposed. An example missile control problem, which contains realistic and necessary performance goals and robustness constraints, has been used to demonstrate the viability of the proposed approach.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130217768","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 efficient hybrid control concept for force-constrained cooperating robots is presented. The entire control scheme is principally composed of two control levels; centralized coordination and decentralized control execution. The centralized coordination deals with the transformation of the coordinate vectors and the force vectors among the task space, the joint space and the end effect frames. Decentralized control execution is achieved in joint space. The authors adopt a proportional-integral (PI) control law for the force and the position controller in the joint space. The hybrid control scheme is compared with separate position control and master/slave control by simulation on typical cooperating robot systems with two six-jointed industrial robots carryout out exemplary tasks.<>
{"title":"A comparison of control strategies for force constrained cooperating robots","authors":"G. Duelen, H. Munch, Y. Zhang","doi":"10.1109/CDC.1991.261402","DOIUrl":"https://doi.org/10.1109/CDC.1991.261402","url":null,"abstract":"An efficient hybrid control concept for force-constrained cooperating robots is presented. The entire control scheme is principally composed of two control levels; centralized coordination and decentralized control execution. The centralized coordination deals with the transformation of the coordinate vectors and the force vectors among the task space, the joint space and the end effect frames. Decentralized control execution is achieved in joint space. The authors adopt a proportional-integral (PI) control law for the force and the position controller in the joint space. The hybrid control scheme is compared with separate position control and master/slave control by simulation on typical cooperating robot systems with two six-jointed industrial robots carryout out exemplary tasks.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115488506","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 approach to failure detection and identification (FDI) is proposed which combines an analytic estimation method and an intelligent identification scheme in such a way that sensitivity to true failure modes is enhanced, while the possibility of false alarms is reduced. The authors use a real-time recursive parameter estimation algorithm with covariance resetting which triggers the FDI routine only when potential failure modes are anticipated. A possibilistic scheme based on fuzzy set theory is applied to the identification part of the FDI algorithm with computational efficiency. At the final stage of the algorithm, an index is computed-the degree of certainty-based on Dempster-Shafer theory, which measures the reliability of the decision. The FDI algorithm has been applied successfully to the detection of rotating stall and surge instabilities in axial flow compressors.<>
{"title":"An application of fuzzy logic and Dempster-Shafer theory to failure detection and identification","authors":"H. Kang, J. Cheng, I. Kim, G. Vachtsevanos","doi":"10.1109/CDC.1991.261666","DOIUrl":"https://doi.org/10.1109/CDC.1991.261666","url":null,"abstract":"An approach to failure detection and identification (FDI) is proposed which combines an analytic estimation method and an intelligent identification scheme in such a way that sensitivity to true failure modes is enhanced, while the possibility of false alarms is reduced. The authors use a real-time recursive parameter estimation algorithm with covariance resetting which triggers the FDI routine only when potential failure modes are anticipated. A possibilistic scheme based on fuzzy set theory is applied to the identification part of the FDI algorithm with computational efficiency. At the final stage of the algorithm, an index is computed-the degree of certainty-based on Dempster-Shafer theory, which measures the reliability of the decision. The FDI algorithm has been applied successfully to the detection of rotating stall and surge instabilities in axial flow compressors.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115656799","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 and robust performance are investigated. The interest is in analyzing the worst-case effect of a disturbance system on the H/sub 2/ norm of a system. The corresponding synthesis question, which is to minimize the worst-case H/sub 2/ norm over the class of all robustly stabilizing dynamic controllers, is also considered. Explicit techniques to handle this problem are outlined.<>
{"title":"The robust H/sub 2/ control problem: a worst case design","authors":"A. Stoorvogel","doi":"10.1109/CDC.1991.261286","DOIUrl":"https://doi.org/10.1109/CDC.1991.261286","url":null,"abstract":"Robust stability and robust performance are investigated. The interest is in analyzing the worst-case effect of a disturbance system on the H/sub 2/ norm of a system. The corresponding synthesis question, which is to minimize the worst-case H/sub 2/ norm over the class of all robustly stabilizing dynamic controllers, is also considered. Explicit techniques to handle this problem are outlined.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124981572","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 recursive ellipsoid algorithm is derived for parameter set estimation of a single-input-single-output linear time-invariant system with bounded noise. The algorithm objective is to seek the minimal volume ellipsoid bounding the feasible parameter set. Cast in a recursive framework, where a minimal volume ellipsoid results at each recursion, the algorithm extends a result due to Khachian in 1979 in which a technique was developed to solve a class of linear programming problems. This extension and application to the parameter set estimation problem has intuitive geometric appeal and is easy to implement. Comparisons are made to the optimal bounding ellipsoid algorithm of E. Fogel and Y.F. Huang, and the results are demonstrated via computer simulations.<>
{"title":"An optimal volume ellipsoid algorithm for parameter set estimation","authors":"Man-Fung Cheung, S. Yurkovich, K. Passino","doi":"10.1109/CDC.1991.261468","DOIUrl":"https://doi.org/10.1109/CDC.1991.261468","url":null,"abstract":"A recursive ellipsoid algorithm is derived for parameter set estimation of a single-input-single-output linear time-invariant system with bounded noise. The algorithm objective is to seek the minimal volume ellipsoid bounding the feasible parameter set. Cast in a recursive framework, where a minimal volume ellipsoid results at each recursion, the algorithm extends a result due to Khachian in 1979 in which a technique was developed to solve a class of linear programming problems. This extension and application to the parameter set estimation problem has intuitive geometric appeal and is easy to implement. Comparisons are made to the optimal bounding ellipsoid algorithm of E. Fogel and Y.F. Huang, and the results are demonstrated via computer simulations.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125025782","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 author presents a method to incorporate available uncertain prior knowledge into recursive least squares (RLSs) initial conditions. The simple procedure makes it possible to incorporate vague prior information about a linear combination of regression coefficients. It translates such knowledge as a guess of static gain both into a point estimate and prior covariance. The information about an imprecisely known linear relation of unknown parameters is the key result.<>
{"title":"A note on feeding uncertain knowledge into recursive least squares","authors":"M. Kárný","doi":"10.1109/CDC.1991.261469","DOIUrl":"https://doi.org/10.1109/CDC.1991.261469","url":null,"abstract":"The author presents a method to incorporate available uncertain prior knowledge into recursive least squares (RLSs) initial conditions. The simple procedure makes it possible to incorporate vague prior information about a linear combination of regression coefficients. It translates such knowledge as a guess of static gain both into a point estimate and prior covariance. The information about an imprecisely known linear relation of unknown parameters is the key result.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125911883","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}
Sufficient conditions for stabilizability of linear systems by static output feedback are presented. These conditions are then applied in the construction of simple adaptive output feedback stabilizers for a class of uncertain systems.<>
{"title":"Stabilizability by static output feedback with application to adaptive control","authors":"M. Corless, E. Ryan","doi":"10.1109/CDC.1991.261801","DOIUrl":"https://doi.org/10.1109/CDC.1991.261801","url":null,"abstract":"Sufficient conditions for stabilizability of linear systems by static output feedback are presented. These conditions are then applied in the construction of simple adaptive output feedback stabilizers for a class of uncertain systems.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126047669","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 principle of matching, introduced by V. Zakian (1991), is a simple set-theoretic approach to design. The author outlines the use of this principle in a multicriterion design of an add-on automatic motor vehicle speed control (sometimes referred to as cruise control) system.<>
V. Zakian(1991)提出的匹配原则是一种简单的集合论设计方法。作者概述了在一个附加的自动机动车辆速度控制(有时被称为巡航控制)系统的多标准设计中使用这一原则。
{"title":"A crash course on the application of a new principle of design to vehicle speed control","authors":"N. K. Rutland","doi":"10.1109/CDC.1991.261557","DOIUrl":"https://doi.org/10.1109/CDC.1991.261557","url":null,"abstract":"The principle of matching, introduced by V. Zakian (1991), is a simple set-theoretic approach to design. The author outlines the use of this principle in a multicriterion design of an add-on automatic motor vehicle speed control (sometimes referred to as cruise control) system.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126140282","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 basic convergence and error propagation properties of the recursive least-squares estimator stabilized algorithm with invariant factors (RLS-SI) are discussed. Under the assumption that the data are generated by a deterministic LTI system, the RLS-SI algorithm is exponentially convergent for persistently exciting signals. For a nonpersistent excitation the normalized prediction errors and the estimation changes are square summable and the estimates are bounded. If the excitation is strictly limited to a hyperspace, the estimation error on the excitation hyperspace tends to zero. If the measurements are corrupted by an additive white noise the parameter error converges to a random variable having zero mean and a limited variance. Numerical properties of the algorithms are favorable. A single error introduced into an arbitrary point of the RLS-SI algorithm decays exponentially.<>
{"title":"Stabilized least squares estimators: convergence and error propagation properties","authors":"Janusz Milek, F. Kraus","doi":"10.1109/CDC.1991.261118","DOIUrl":"https://doi.org/10.1109/CDC.1991.261118","url":null,"abstract":"The basic convergence and error propagation properties of the recursive least-squares estimator stabilized algorithm with invariant factors (RLS-SI) are discussed. Under the assumption that the data are generated by a deterministic LTI system, the RLS-SI algorithm is exponentially convergent for persistently exciting signals. For a nonpersistent excitation the normalized prediction errors and the estimation changes are square summable and the estimates are bounded. If the excitation is strictly limited to a hyperspace, the estimation error on the excitation hyperspace tends to zero. If the measurements are corrupted by an additive white noise the parameter error converges to a random variable having zero mean and a limited variance. Numerical properties of the algorithms are favorable. A single error introduced into an arbitrary point of the RLS-SI algorithm decays exponentially.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123222343","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}
Two models of asymptotically reliable serial production lines with a quality control system are introduced. Their performance is analyzed and compared in the case of a two-machine one-buffer system. Their throughputs are shown to be asymptotically equivalent.<>
{"title":"Asymptotically reliable serial production lines with a quality control system","authors":"D. Jacobs, S. Meerkov","doi":"10.1109/CDC.1991.261531","DOIUrl":"https://doi.org/10.1109/CDC.1991.261531","url":null,"abstract":"Two models of asymptotically reliable serial production lines with a quality control system are introduced. Their performance is analyzed and compared in the case of a two-machine one-buffer system. Their throughputs are shown to be asymptotically equivalent.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123708227","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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