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[1991] Proceedings of the 30th IEEE Conference on Decision and Control最新文献

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Iterative designs of adaptive controllers for systems with nonlinear integrators 非线性积分系统自适应控制器的迭代设计
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261798
Z. Jiang, L. Praly
The authors extend the idea of iterative design of a globally stabilising adaptive controller introduced by I. Kanellakopoulos, P.V. Kokotovic and A.S. Morse (1990). By giving an interpretation of the scheme of Kanellakopoulos et al. in terms of the control Lyapunov function technique, the authors show that it can be applied to a slightly broader family of systems than the strict feedback systems. By noticing that this design involves implicitly at each step a matching condition which is known to hold not only for one integrator but also for two integrators, they propose an adaptive controller with, in general, half as many parameters to update. A significant aspect of these designs is that, together with an adaptive controller, they result in a corresponding control Lyapunov function.<>
作者扩展了I. Kanellakopoulos, P.V. Kokotovic和A.S. Morse(1990)引入的全局稳定自适应控制器的迭代设计思想。通过给出Kanellakopoulos等人在控制Lyapunov函数技术方面的方案的解释,作者表明它可以应用于比严格反馈系统稍微广泛的系统族。通过注意到这种设计在每一步隐含地包含一个匹配条件,该条件已知不仅适用于一个积分器,也适用于两个积分器,他们提出了一个自适应控制器,通常只有一半的参数需要更新。这些设计的一个重要方面是,与自适应控制器一起,它们产生相应的控制李雅普诺夫函数。
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引用次数: 62
The term structure of interest rates: the case of imperfect information 利率期限结构:不完全信息的情况
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261598
R. Apelfeld, A. Conze
The authors consider the problem of valuation of bonds in a market with an imperfectly observable state variable. A natural way to transform the problem of valuation of bonds in an imperfect information market into an equivalent perfect information problem is to assume that bond prices are functionals of the density of the conditional probability distribution of the imperfectly observable state variable. Given that, the authors obtain a valuation equation for bonds through nonlinear filtering methods combined with standard arbitrage arguments. The authors show how the problem of valuation can be drastically simplified if it is considered in the equivalent risk neutral market. For a linear version of the model, the equivalent risk neutral market is used to obtain a closed for solution for bond prices. This version is used to emphasize the effect of the market risk exposure caused by the lack of information on the shape of the yield curve.<>
研究具有不完全可观察状态变量的市场中债券的估值问题。将不完全信息市场中的债券估值问题转化为等效完全信息问题的一种自然方法是假设债券价格是不完全可观察状态变量的条件概率分布密度的函数。在此基础上,通过非线性滤波方法结合标准套利论证,得到了债券的估值方程。作者展示了如何估价问题可以大大简化,如果它被认为是在等效的风险中性市场。对于模型的线性版本,使用等效风险中性市场来获得债券价格的闭解。这个版本是用来强调由于缺乏信息而导致的市场风险暴露对收益率曲线形状的影响。
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引用次数: 2
Nonparametric multisensor image segmentation and classification 非参数多传感器图像分割与分类
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261605
Y.A. Chau, E. Geraniotis
Nonparametric multisensor systems for image segmentation and classification are presented for which no knowledge of the statistical behavior of the training data and the quantized gray levels from the sensors is required. The joint probability density function of the quantized gray levels is estimated at the fusion center following a density estimation approach which is based on a kernel function and the training data and is implemented via a probabilistic neutral network. The quantizers of the sensors are designed according to a signal-to-noise-type design criterion which is a function of the training data only and couples the data sequences of the various sensors.<>
提出了用于图像分割和分类的非参数多传感器系统,该系统不需要了解训练数据的统计行为和来自传感器的量化灰度。采用基于核函数和训练数据的密度估计方法,通过概率中性网络实现,在融合中心估计量化灰度的联合概率密度函数。传感器的量化器是根据信号-噪声型设计准则设计的,该准则仅是训练数据的函数,并将各个传感器的数据序列耦合在一起
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引用次数: 0
Conditions for the equivalence of internal and external stability for distributed parameter systems 分布参数系统内外稳定性等价的条件
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261098
R. Rebarber
The author gives conditions under which external stability, also known as input-output stability, implies internal stability, which is the exponential stability of the underlying semigroup. In particular, he gives a very general definition of stabilizability and detectability and shows that, when the system satisfies both of these, external stability is equivalent to internal stability. Therefore, in order to check internal stability, it is often sufficient to check the boundedness of the transfer function in the right half complex plane. The author applies this to a simple example, and also obtains a robustness result.<>
作者给出了外部稳定性(也称为输入输出稳定性)蕴涵内部稳定性的条件,内部稳定性是下半群的指数稳定性。特别是,他给出了稳定性和可探测性的一个非常一般的定义,并表明,当系统同时满足这两个条件时,外部稳定性等于内部稳定性。因此,为了检查内部稳定性,检查传递函数在右半复平面上的有界性往往就足够了。作者将此方法应用到一个简单的例子中,也得到了鲁棒性结果。
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引用次数: 69
Robust speed-gradient adaptive control algorithms for manipulators and mobile robots 机械臂和移动机器人鲁棒速度梯度自适应控制算法
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261122
Alexander L. Fradkov, S. Gusev, I. A. Makarov
A number of adaptive control algorithms for manipulating and mobile robots are considered from the viewpoint of the speed-gradient method. A general theorem on speed-gradient algorithms is presented, making it possible to investigate closed-loop robot dynamics under disturbances and nonstationarities.<>
从速度梯度方法的角度出发,研究了许多操作机器人和移动机器人的自适应控制算法。给出了速度梯度算法的一般定理,使研究机器人在扰动和非平稳条件下的闭环动力学成为可能。
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引用次数: 8
Robust fault detection using eigenstructure assignment: a tutorial consideration and some new results 基于特征结构分配的鲁棒故障检测:一个教程的考虑和一些新的结果
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261546
Ron J. Patton, Jie Chen
Developments in the eigenstructure assignment approach to robust fault detection are discussed. By suitable assignment of the eigenstructure of an observer, the residual signal is decoupled from disturbances. The main contribution of this work is the novel use of right eigenvector assignment of observers, which gives more freedom for achieving disturbance decoupling. It is shown that, when decoupling conditions are satisfied, the resulting deadbeat design is equivalent to the first-order parity space structure for residual generation. Two tutorial examples are presented to illustrate the disturbance decoupling property and the conditions under which left or right eigenvectors are assignable.<>
讨论了鲁棒故障检测的特征结构分配方法的发展。通过适当地分配观测器的特征结构,残差信号与干扰解耦。这项工作的主要贡献是新颖地使用了观察者的右特征向量分配,这为实现干扰解耦提供了更大的自由度。结果表明,当解耦条件满足时,所得到的无差拍设计等价于残差产生的一阶宇称空间结构。给出了两个教程示例来说明扰动解耦性质和左特征向量或右特征向量可赋值的条件
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引用次数: 204
Stabilization, parametrization, and decoupling controller design for linear multivariable systems 线性多变量系统的镇定、参数化与解耦控制器设计
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261371
Ching-An Lin, Tung-Fu Hsieh
Linear multivariable systems are studied under the unity-feedback configuration. For plants with no coincidences of unstable poles and zeros, the authors prove a simplified condition for closed-loop stability. The simplification leads to a simple description of the set of all achievable input/output (I/O) maps and a simple parametrization of all controllers achieving the same I/O map. The results are used to study decoupling controller design for nonsquare unstable plants. They describe the set of all achievable decoupled I/O maps and prove a necessary and sufficient condition for the existence of stable decoupling controllers. Computationally simple algorithms for the design of decoupling controllers to achieve preassigned closed-loop poles and zeros are proposed.<>
研究了单位反馈组态下的线性多变量系统。对于不稳定极点和不稳定零点不重合的对象,作者证明了闭环稳定的一个简化条件。这种简化导致了对所有可实现的输入/输出(I/O)映射集的简单描述,以及实现相同I/O映射的所有控制器的简单参数化。研究结果用于研究非平方不稳定对象的解耦控制器设计。他们描述了所有可实现的解耦I/O映射的集合,并证明了稳定解耦控制器存在的充分必要条件。提出了解耦控制器设计的简单计算算法,以实现预先设定的闭环极点和零点。
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引用次数: 5
Model selection in continuous time 连续时间模型选择
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261466
L. Gerencsér, Z. Vágó
The foundations of a theory of model selection for continuous-time autoregressive systems is outlined. The authors define the predictive stochastic complexity for continuous-time systems and investigate its asymptotic properties. An almost sure asymptotic result is presented.<>
概述了连续时间自回归系统模型选择理论的基础。定义了连续时间系统的预测随机复杂度,并研究了其渐近性质。给出了一个几乎肯定的渐近结果
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引用次数: 4
On the algebraization of nonlinear control 非线性控制的代数化问题
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261329
J. Hammer
An algebraic theory on the stabilization of discrete- and continuous-time nonlinear systems by static state feedback is presented. In both cases, it is shown that the existence of stabilizing feedback controllers can be completely characterized through certain algebraic properties of the functions determining the state representation of the system. The theory includes necessary and sufficient conditions for the existence of stabilizing feedback functions, as well as methods for their computation. An inherent resemblance between the discrete-time and the continuous-time cases is elucidated.<>
提出了一种静态反馈稳定离散和连续非线性系统的代数理论。在这两种情况下,证明了稳定反馈控制器的存在性可以通过确定系统状态表示的函数的某些代数性质来完全表征。该理论包括稳定反馈函数存在的充分必要条件,以及稳定反馈函数的计算方法。阐明了离散时间和连续时间情况的内在相似性。
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引用次数: 0
An extended linearization approach to sliding mode control of DC-to-DC power supplies 直流到直流电源滑模控制的扩展线性化方法
Pub Date : 1991-12-11 DOI: 10.1109/CDC.1991.261516
M. Rios-Bolivar, H. Sira-Ramírez
The method of extended linearization is proposed for the systematic solution of sliding mode controller design in DC-to-DC power converters of the boost and the buck-boost types. A nonlinear sliding surface with suitable properties is synthesized on the basis of the extension of a linear design carried out on the average incremental model of the converter. The obtained feedback strategies lead to asymptotically stable sliding modes with remarkable self-scheduling properties. Simulation examples are presented for illustrative purposes.<>
针对升压型和buck-boost型直流-直流功率变换器的滑模控制器设计问题,提出了扩展线性化的系统求解方法。在对变换器的平均增量模型进行线性设计推广的基础上,合成了具有合适性质的非线性滑动面。所得到的反馈策略可得到具有显著自调度特性的渐近稳定滑模。为了便于说明,给出了仿真示例。
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引用次数: 5
期刊
[1991] Proceedings of the 30th IEEE Conference on Decision and Control
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