A preliminary approach for stabilizing two SISO plants is outlined. By utilizing the results in G. Celentano and G. De Maria (1989) characterizing the set of all stabilizing compensators for single-input systems, it is shown that such a characterization can be easily reduced to a form similar to the classical Youla-Kucera one. Following the work of M. Jodorkovsky and W. Levine (1990) and starting from the same assumptions, it is shown that the problem can be solved by suitably selecting three Hurwitz polynomials.<>
概述了稳定两株SISO植物的初步方法。通过利用G. Celentano和G. De Maria(1989)描述单输入系统的所有稳定补偿器集合的结果，表明这种表征可以很容易地简化为类似于经典youla - kuucera的形式。根据M. Jodorkovsky和W. Levine(1990)的工作，并从相同的假设出发，表明可以通过适当选择三个Hurwitz多项式来解决问题。
{"title":"A polynomial approach to simultaneous stabilization of SISO plants","authors":"A. Cavallo, G. De Maria","doi":"10.1109/CDC.1991.261109","DOIUrl":"https://doi.org/10.1109/CDC.1991.261109","url":null,"abstract":"A preliminary approach for stabilizing two SISO plants is outlined. By utilizing the results in G. Celentano and G. De Maria (1989) characterizing the set of all stabilizing compensators for single-input systems, it is shown that such a characterization can be easily reduced to a form similar to the classical Youla-Kucera one. Following the work of M. Jodorkovsky and W. Levine (1990) and starting from the same assumptions, it is shown that the problem can be solved by suitably selecting three Hurwitz polynomials.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"44 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":"123747887","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 considers the regulator problem for linear discrete-time systems described by the equations x/sub k+1/=Ax/sub k/+Bu/sub k/, where u/sub k/=Fx/sub k/ epsilon Omega , and Omega is a nonsymmetrical polyhedral set. A necessary and sufficient condition ensuring that all the motions of the system emanating from the set F/sup -1/ Omega remain in this set is given. The asymptotic stability of the origin is also guaranteed.<>
{"title":"The regulator problem for linear discrete-time systems with nonsymmetrical constrained control","authors":"A. Benzaouia","doi":"10.1109/CDC.1991.261705","DOIUrl":"https://doi.org/10.1109/CDC.1991.261705","url":null,"abstract":"The author considers the regulator problem for linear discrete-time systems described by the equations x/sub k+1/=Ax/sub k/+Bu/sub k/, where u/sub k/=Fx/sub k/ epsilon Omega , and Omega is a nonsymmetrical polyhedral set. A necessary and sufficient condition ensuring that all the motions of the system emanating from the set F/sup -1/ Omega remain in this set is given. The asymptotic stability of the origin is also guaranteed.<<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":"126650474","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 addresses the problem of controlling multiple flexible joint robots (mFJR) during cooperative manipulation of a rigidly grasped common load (this problem is called the cmFJR problem). The dynamic model of the cmFJR shows that the interaction between the manipulators in the closed chain in the mFJR system is analogous to a single manipulator interacting with a frictionless (algebraic constraint) surface while in motion along the surface. It is assumed that each flexible joint robot is equipped with joint velocity and position sensors and actuator-mounted position and velocity sensors. It is shown that it is not necessary to use force sensors mounted on the robot wrist in order to track a desired load trajectory and an internal force trajectory. The transient response of the position error and the internal force error can be arbitrarily assigned, despite the fact that force sensors are not used.<>
{"title":"Control of cooperative multiple flexible joint robots","authors":"Shaheen Ahmad","doi":"10.1109/CDC.1991.261632","DOIUrl":"https://doi.org/10.1109/CDC.1991.261632","url":null,"abstract":"The author addresses the problem of controlling multiple flexible joint robots (mFJR) during cooperative manipulation of a rigidly grasped common load (this problem is called the cmFJR problem). The dynamic model of the cmFJR shows that the interaction between the manipulators in the closed chain in the mFJR system is analogous to a single manipulator interacting with a frictionless (algebraic constraint) surface while in motion along the surface. It is assumed that each flexible joint robot is equipped with joint velocity and position sensors and actuator-mounted position and velocity sensors. It is shown that it is not necessary to use force sensors mounted on the robot wrist in order to track a desired load trajectory and an internal force trajectory. The transient response of the position error and the internal force error can be arbitrarily assigned, despite the fact that force sensors are not used.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"40 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":"126776328","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 authors present an observer for a class of nonlinear systems which are affine in the state and composed of subsystems interconnected in series. This observer works for the class of regularly persistent inputs. They recall main assumptions and restate the results proved by H. Hamouri and J. De Leon Morales (1990). The authors' result is stated and proved.<>
本文给出了一类非线性仿射系统的观测器，该系统是由一系列相互连接的子系统组成的。这个观察者适用于有规律持久输入的类。他们回顾了主要假设，并重申了H. Hamouri和J. De Leon Morales(1990)证明的结果。对作者的结论进行了说明和证明。
{"title":"On observers for a class of nonlinear systems","authors":"J. de Leon Morales, T. Chot","doi":"10.1109/CDC.1991.261344","DOIUrl":"https://doi.org/10.1109/CDC.1991.261344","url":null,"abstract":"The authors present an observer for a class of nonlinear systems which are affine in the state and composed of subsystems interconnected in series. This observer works for the class of regularly persistent inputs. They recall main assumptions and restate the results proved by H. Hamouri and J. De Leon Morales (1990). The authors' result is stated and proved.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"12 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":"126850459","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 adaptive learning control approach is proposed which combines a mechanism to improve the control input sequence as well as to improve the learning control scheme based on the knowledge learned about the unknown system and environment. The iterative learning control problem is treated from the 2D system point of view. A 2D model for a class of iterative learning control system is formulated. A learning gain estimator algorithm based on the 2D model is presented. The overall learning control system structure is given. The proposed learning control scheme does not require prior knowledge of the controlled system and has the ability to generalize the knowledge learned from one task operation to other tasks. This scheme can be applied to nonlinear system control problems. To demonstrate the feasibility of the proposed learning algorithm, simulation results on learning control for a three-water-tank system are given. The results show an excellent learning performance, even for nonrepetitive tasks.<>
{"title":"An adaptive learning control approach","authors":"Z. Geng, M. Jamshidi, R. Carroll, R. Kisner","doi":"10.1109/CDC.1991.261567","DOIUrl":"https://doi.org/10.1109/CDC.1991.261567","url":null,"abstract":"An adaptive learning control approach is proposed which combines a mechanism to improve the control input sequence as well as to improve the learning control scheme based on the knowledge learned about the unknown system and environment. The iterative learning control problem is treated from the 2D system point of view. A 2D model for a class of iterative learning control system is formulated. A learning gain estimator algorithm based on the 2D model is presented. The overall learning control system structure is given. The proposed learning control scheme does not require prior knowledge of the controlled system and has the ability to generalize the knowledge learned from one task operation to other tasks. This scheme can be applied to nonlinear system control problems. To demonstrate the feasibility of the proposed learning algorithm, simulation results on learning control for a three-water-tank system are given. The results show an excellent learning performance, even for nonrepetitive tasks.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"95 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":"115209981","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 issue that is of importance for control applications is discussed: how to construct the trees online, i.e. recursively, as more and more data become available. A theorem regarding recursive tree-building is stated and proved, and implementation issues are considered.<>
{"title":"On recursive construction of trees as models of dynamical systems","authors":"A. Isaksson, L. Ljung, J. Stromberg","doi":"10.1109/CDC.1991.261694","DOIUrl":"https://doi.org/10.1109/CDC.1991.261694","url":null,"abstract":"An issue that is of importance for control applications is discussed: how to construct the trees online, i.e. recursively, as more and more data become available. A theorem regarding recursive tree-building is stated and proved, and implementation issues are considered.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"49 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":"116396036","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 novel approach based on interpolative neural networks is proposed for catastrophic fault detection and isolation, and system reconfiguration to accommodate the fault. The neural networks are from a class of recently developed interpolative neural networks, based on a generalized Fock space. The technique is designed to make use of secondary control configurations, assuming only partial system operation, as may be obtained by simulation and test results at design time (information not used by current adaptive controllers).<>
{"title":"Neural-network-based catastrophe avoidance control systems","authors":"R. Defigueiredo, A. Stubberud","doi":"10.1109/CDC.1991.261079","DOIUrl":"https://doi.org/10.1109/CDC.1991.261079","url":null,"abstract":"A novel approach based on interpolative neural networks is proposed for catastrophic fault detection and isolation, and system reconfiguration to accommodate the fault. The neural networks are from a class of recently developed interpolative neural networks, based on a generalized Fock space. The technique is designed to make use of secondary control configurations, assuming only partial system operation, as may be obtained by simulation and test results at design time (information not used by current adaptive controllers).<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"25 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":"116430073","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 concept of the optimal feedback controllability of a nonlinear plant with respect to an accompanying optimal control problem is introduced. An illustrative example in the context of the second-order necessary conditions of optimal control is presented. An extension to the wider class of not optimal feedback controllable plants with respect to a chosen performance index is elaborated by a suitable type of transformation.<>
{"title":"Optimal feedback controllability","authors":"L. Schumann, H. Geering","doi":"10.1109/CDC.1991.261870","DOIUrl":"https://doi.org/10.1109/CDC.1991.261870","url":null,"abstract":"The concept of the optimal feedback controllability of a nonlinear plant with respect to an accompanying optimal control problem is introduced. An illustrative example in the context of the second-order necessary conditions of optimal control is presented. An extension to the wider class of not optimal feedback controllable plants with respect to a chosen performance index is elaborated by a suitable type of transformation.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"38 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":"116538053","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 authors introduce a relation called equivalence in the discrete sense and define a complex system corresponding to a real system with real-axis poles as well as complex conjugate poles that is a generalization of a complex system considered previously by the authors (1990). The introduction of such a complex system makes it more suitable for treating not only the robust control but also pole assignment in the separate regions. It is possible to treat root-clustering problems in three separate regions: in two symmetric regions with respect to the real axis and on a real-axis segment.<>
{"title":"Generalization of a complex system by equivalent transform in the discrete sense","authors":"M. Koga, K. Furuta","doi":"10.1109/CDC.1991.261046","DOIUrl":"https://doi.org/10.1109/CDC.1991.261046","url":null,"abstract":"The authors introduce a relation called equivalence in the discrete sense and define a complex system corresponding to a real system with real-axis poles as well as complex conjugate poles that is a generalization of a complex system considered previously by the authors (1990). The introduction of such a complex system makes it more suitable for treating not only the robust control but also pole assignment in the separate regions. It is possible to treat root-clustering problems in three separate regions: in two symmetric regions with respect to the real axis and on a real-axis segment.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"47 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":"122641830","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 receding horizon control strategy provides a relatively simple method for determining feedback control for nonlinear systems and has been shown to be globally asymptotically stabilizing when applied to general, time-invariant nonlinear systems. The authors extend previous results by showing that the receding horizon control is globally stabilizing for a large class of time-varying, continuous-time nonlinear systems.<>
{"title":"Receding horizon control for nonlinear time-varying systems","authors":"R. Vinter, H. Michalska","doi":"10.1109/CDC.1991.261257","DOIUrl":"https://doi.org/10.1109/CDC.1991.261257","url":null,"abstract":"The receding horizon control strategy provides a relatively simple method for determining feedback control for nonlinear systems and has been shown to be globally asymptotically stabilizing when applied to general, time-invariant nonlinear systems. The authors extend previous results by showing that the receding horizon control is globally stabilizing for a large class of time-varying, continuous-time nonlinear systems.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"23 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":"114265846","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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