A state space version of the skew Toeplitz theory for (distributed) H/sup /spl infin// optimization theory is presented. The approach combines this theory with the realization theory for pseudo-rational transfer functions.<>
{"title":"Skew Toeplitz theory and pseudorational transfer functions","authors":"Y. Yamamoto, A. Tannenbaum","doi":"10.1109/CDC.1994.410953","DOIUrl":"https://doi.org/10.1109/CDC.1994.410953","url":null,"abstract":"A state space version of the skew Toeplitz theory for (distributed) H/sup /spl infin// optimization theory is presented. The approach combines this theory with the realization theory for pseudo-rational transfer functions.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115674543","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}
Nonlinear tracking control of unmanned underwater vehicles (UUVs) in 6 degrees of freedom (DOF) is discussed. The 4-parameter unit quaternion is used in a singularity-free representation of attitude. Several control laws based on a generalized Lyapunov function for the attitude dynamics are derived, including feedback from the vector quaternion, the Euler rotation vector and the Rodrigues parameter vector. A new feedback gain matrix for translational motion is also proposed. Lyapunov analysis is used in the tracking error convergence analysis. Extensions to adaptive control are made. The control laws are tested in a simulation study.<>
{"title":"Singularity-free tracking of unmanned underwater vehicles in 6 DOF","authors":"O. Fjellstad, T. Fossen","doi":"10.1109/CDC.1994.411068","DOIUrl":"https://doi.org/10.1109/CDC.1994.411068","url":null,"abstract":"Nonlinear tracking control of unmanned underwater vehicles (UUVs) in 6 degrees of freedom (DOF) is discussed. The 4-parameter unit quaternion is used in a singularity-free representation of attitude. Several control laws based on a generalized Lyapunov function for the attitude dynamics are derived, including feedback from the vector quaternion, the Euler rotation vector and the Rodrigues parameter vector. A new feedback gain matrix for translational motion is also proposed. Lyapunov analysis is used in the tracking error convergence analysis. Extensions to adaptive control are made. The control laws are tested in a simulation study.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115726837","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}
Obtains a variety of linear programs to conduct the performance analysis and stability/instability determination of queueing networks and scheduling policies. The authors exhibit a strong duality relationship between the performance of a system, and its stability analysis via mean drift. A Performance LP bounds the performance of all stationary non-idling scheduling policies. If it is bounded, then its dual, called the Drift LP, has a feasible solution, which is a copositive matrix. The quadratic form associated with this copositive matrix has a negative drift, allowing the authors to conclude that all stationary non-idling scheduling policies are stable in the very strong sense of having a geometrically converging exponential moment. Some systems satisfy an auxiliary set of linear constraints. Their performance is also bounded by a Performance LP, provided that they are stable, i.e., have a finite first moment for the number of parts. If the Performance LP is infeasible, then the system is unstable. Any feasible solution to the dual of the Performance LP provides a quadratic function with a negative drift. If this quadratic form is copositive, then the system is strongly stable as above. If not, the system is either unstable, or else is highly non-robust in that arbitrarily small perturbations can lead to an unstable system. These results carry over to fluid models, allowing the study of networks with non-exponential distributions. Another LP test of stability avoids a copositivity check. If a Monotone LP is bounded, then the system is stable for all smaller arrival rates. Finally, a Finite Time LP provides transient bounds on the performance of the system.<>
{"title":"Duality and linear programs for stability and performance analysis of queueing networks and scheduling policies","authors":"P. Kumar, Sean P. Meyn","doi":"10.1109/CDC.1994.411003","DOIUrl":"https://doi.org/10.1109/CDC.1994.411003","url":null,"abstract":"Obtains a variety of linear programs to conduct the performance analysis and stability/instability determination of queueing networks and scheduling policies. The authors exhibit a strong duality relationship between the performance of a system, and its stability analysis via mean drift. A Performance LP bounds the performance of all stationary non-idling scheduling policies. If it is bounded, then its dual, called the Drift LP, has a feasible solution, which is a copositive matrix. The quadratic form associated with this copositive matrix has a negative drift, allowing the authors to conclude that all stationary non-idling scheduling policies are stable in the very strong sense of having a geometrically converging exponential moment. Some systems satisfy an auxiliary set of linear constraints. Their performance is also bounded by a Performance LP, provided that they are stable, i.e., have a finite first moment for the number of parts. If the Performance LP is infeasible, then the system is unstable. Any feasible solution to the dual of the Performance LP provides a quadratic function with a negative drift. If this quadratic form is copositive, then the system is strongly stable as above. If not, the system is either unstable, or else is highly non-robust in that arbitrarily small perturbations can lead to an unstable system. These results carry over to fluid models, allowing the study of networks with non-exponential distributions. Another LP test of stability avoids a copositivity check. If a Monotone LP is bounded, then the system is stable for all smaller arrival rates. Finally, a Finite Time LP provides transient bounds on the performance of the system.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116649979","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}
In this paper, the definitions of similarities for two nonlinear control systems and composite nonlinear systems are given respectively, the conditions under which input-output decoupling problem and total linearization problem are solvable for a class of composite nonlinear systems with similarities are derived respectively. An applicational example is used to illustrate the efficiency of the technique.<>
{"title":"Input-output decoupling for a class of composite nonlinear control systems","authors":"B. Jiang, Xiaoping Liu, Si-ying Zhang","doi":"10.1109/CDC.1994.411136","DOIUrl":"https://doi.org/10.1109/CDC.1994.411136","url":null,"abstract":"In this paper, the definitions of similarities for two nonlinear control systems and composite nonlinear systems are given respectively, the conditions under which input-output decoupling problem and total linearization problem are solvable for a class of composite nonlinear systems with similarities are derived respectively. An applicational example is used to illustrate the efficiency of the technique.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116799914","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 time-varying two-phase (TVTP) optimization algorithm is proposed based on the two-phase neural network (NN) and the time-varying programming NN. The proposed algorithm is most useful when the problem is a time-varying optimization programming which may have some constraints. Thus it can be applied to the training of the NN where it has some constraints on weights. Computer simulations show that the proposed TVTP algorithm has good adaptability in online learning and is less sensitive to the learning step size than the conventional error back propagation (EBP) method.<>
{"title":"Neural network learning using time-varying two-phase optimization","authors":"Hyeon-Guk Myeong, Jong-Hwan Kim","doi":"10.1109/CDC.1994.411107","DOIUrl":"https://doi.org/10.1109/CDC.1994.411107","url":null,"abstract":"A time-varying two-phase (TVTP) optimization algorithm is proposed based on the two-phase neural network (NN) and the time-varying programming NN. The proposed algorithm is most useful when the problem is a time-varying optimization programming which may have some constraints. Thus it can be applied to the training of the NN where it has some constraints on weights. Computer simulations show that the proposed TVTP algorithm has good adaptability in online learning and is less sensitive to the learning step size than the conventional error back propagation (EBP) method.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116918575","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}
Estimating the 3D motion of an object from a sequence of projections is of paramount importance in a variety of applications in control and robotics. Although "visual motion estimation" is an old problem, only recently tools from control and estimation theory have hinted at acceptable solutions. Moreover, the problem raises a number of issues of system theoretic interest, such as nonlinear estimation and identification on topological manifolds and observability in a projective geometric framework. In this paper we analyze a formulation of the visual motion estimation problem in terms of identification of nonlinear implicit systems with parameters on the so-called "essential manifold"; the estimation is performed either in the local coordinates or in the embedding space of the parameter manifold.<>
{"title":"Motion estimation via dynamic vision","authors":"Stefano Soatto, R. Frezza, P. Perona","doi":"10.1109/CDC.1994.411641","DOIUrl":"https://doi.org/10.1109/CDC.1994.411641","url":null,"abstract":"Estimating the 3D motion of an object from a sequence of projections is of paramount importance in a variety of applications in control and robotics. Although \"visual motion estimation\" is an old problem, only recently tools from control and estimation theory have hinted at acceptable solutions. Moreover, the problem raises a number of issues of system theoretic interest, such as nonlinear estimation and identification on topological manifolds and observability in a projective geometric framework. In this paper we analyze a formulation of the visual motion estimation problem in terms of identification of nonlinear implicit systems with parameters on the so-called \"essential manifold\"; the estimation is performed either in the local coordinates or in the embedding space of the parameter manifold.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116984341","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 problem of fault detection and isolation in linear systems is studied. Nonlinear observers are used to improve the distinguishability of the faults.<>
研究了线性系统的故障检测与隔离问题。非线性观测器用于提高故障的可分辨性
{"title":"Nonlinear methods for fault detection and isolation in linear systems","authors":"A. Zhirabok, O.V. Preobrazhenskaya","doi":"10.1109/CDC.1994.411317","DOIUrl":"https://doi.org/10.1109/CDC.1994.411317","url":null,"abstract":"The problem of fault detection and isolation in linear systems is studied. Nonlinear observers are used to improve the distinguishability of the faults.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117133625","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}
Linear matrix equations such as Sylvester, Lyapunov and commutant matrix equations play an important role in many control problems, like the design of Luenberger's observers, pole assignment problems, system balancing and model reduction, inertia and stability problems, generic matrix function computation, etc. Two of the most efficient methods for solving linear matrix equations are the Schur algorithm and the Hessenberg-Schur algorithm. In this paper, we present parallel cyclic algorithms based on the Schur and Hessenberg-Schur methods for solving the Sylvester matrix equation. We also present parallel cyclic algorithms based on the Schur method for solving Lyapunov and commutant matrix equations. In the case of Lyapunov equations we also consider the problem of computing the Cholesky factor of the unknown matrix.<>
{"title":"Solving linear matrix equations in control problems on distributed memory multiprocessors","authors":"V. Hernández, E. S. Quintana, M. Marqués","doi":"10.1109/CDC.1994.410885","DOIUrl":"https://doi.org/10.1109/CDC.1994.410885","url":null,"abstract":"Linear matrix equations such as Sylvester, Lyapunov and commutant matrix equations play an important role in many control problems, like the design of Luenberger's observers, pole assignment problems, system balancing and model reduction, inertia and stability problems, generic matrix function computation, etc. Two of the most efficient methods for solving linear matrix equations are the Schur algorithm and the Hessenberg-Schur algorithm. In this paper, we present parallel cyclic algorithms based on the Schur and Hessenberg-Schur methods for solving the Sylvester matrix equation. We also present parallel cyclic algorithms based on the Schur method for solving Lyapunov and commutant matrix equations. In the case of Lyapunov equations we also consider the problem of computing the Cholesky factor of the unknown matrix.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121050781","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 discuss a fundamental problem in the provision of quality care at acceptable, society-wide costs: The integration of what is now a dichotomy in medical models. The dichotomy is one between phenomenological models of high-level decisions and evolution models of low-level dynamics. The dominant modeling concepts are based traditionally on (a) "homeostasis" and, (b) "physical dynamics"-such as those encountered in pharmacology, quantitative pathophysiology, and immunology. The authors introduce a novel idea of the hybrid system state which is used to provide a basis for integration of medical models.<>
{"title":"A hybrid systems approach to integration of medical models","authors":"W. Kohn, J. James, A. Nerode, N. DeClaris","doi":"10.1109/CDC.1994.411618","DOIUrl":"https://doi.org/10.1109/CDC.1994.411618","url":null,"abstract":"The authors discuss a fundamental problem in the provision of quality care at acceptable, society-wide costs: The integration of what is now a dichotomy in medical models. The dichotomy is one between phenomenological models of high-level decisions and evolution models of low-level dynamics. The dominant modeling concepts are based traditionally on (a) \"homeostasis\" and, (b) \"physical dynamics\"-such as those encountered in pharmacology, quantitative pathophysiology, and immunology. The authors introduce a novel idea of the hybrid system state which is used to provide a basis for integration of medical models.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127173568","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}
This paper considers a mixed H/sub 2//ESPR control problem for the state-feedback case. The problem is to find an internally stabilizing controller that minimizes a mixed H/sub 2//ESPR performance measure subject to an inequality constraint on the ESPRness (extended strictly positive real) of another closed-loop transfer function. This problem can be interpreted and motivated as a problem of optimal nominal performance subject to a robust stability constraint. It is shown that the state-feedback problem can be converted into a convex optimization problem over a bounded set of matrices, and that in the state-feedback problem, one can come arbitrary close to the optimal (even over full information controllers) mixed H/sub 2//ESPR performance measure using constant gain state-feedback.<>
{"title":"Mixed H/sub 2//ESPR (extended strictly positive real) control for state-feedback case","authors":"D. Shim","doi":"10.1109/CDC.1994.411628","DOIUrl":"https://doi.org/10.1109/CDC.1994.411628","url":null,"abstract":"This paper considers a mixed H/sub 2//ESPR control problem for the state-feedback case. The problem is to find an internally stabilizing controller that minimizes a mixed H/sub 2//ESPR performance measure subject to an inequality constraint on the ESPRness (extended strictly positive real) of another closed-loop transfer function. This problem can be interpreted and motivated as a problem of optimal nominal performance subject to a robust stability constraint. It is shown that the state-feedback problem can be converted into a convex optimization problem over a bounded set of matrices, and that in the state-feedback problem, one can come arbitrary close to the optimal (even over full information controllers) mixed H/sub 2//ESPR performance measure using constant gain state-feedback.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127291481","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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