A long-standing problem in traffic engineering is to optimize the flow of vehicles through a given road network. Improving the timing of the traffic signals at intersections in the network is generally the most powerful and cost-effective means of achieving this goal. However, because of the many complex aspects of a traffic system-human behavioral considerations, vehicle flow interactions within the network, weather effects, traffic accidents, long-term (e.g., seasonal) variation, etc.-it has been notoriously difficult to determine the optimal signal light timing. This is especially the case on a system-wide (multiple intersection) basis. Much of this difficulty has stemmed from the need to build extremely complex open-loop models of the traffic dynamics as a component of the control strategy. This paper presents a fundamentally different approach for optimal light timing that eliminates the need for such an open-loop model. The approach is based on a neural network (or other function approximator) serving as the basis for the control law, with the weight estimation occurring in closed-loop mode via the simultaneous perturbation stochastic approximation (SPSA) algorithm. Since the SPSA algorithm requires only loss function measurements (no gradients of the loss function), there is no open-loop model required for the weight estimation. The approach is illustrated by simulation on a six-intersection network with moderate congestion and stochastic, nonlinear effects.<>
{"title":"A model-free approach to optimal signal light timing for system-wide traffic control","authors":"J. Spall, D. C. Chin","doi":"10.1109/CDC.1994.411110","DOIUrl":"https://doi.org/10.1109/CDC.1994.411110","url":null,"abstract":"A long-standing problem in traffic engineering is to optimize the flow of vehicles through a given road network. Improving the timing of the traffic signals at intersections in the network is generally the most powerful and cost-effective means of achieving this goal. However, because of the many complex aspects of a traffic system-human behavioral considerations, vehicle flow interactions within the network, weather effects, traffic accidents, long-term (e.g., seasonal) variation, etc.-it has been notoriously difficult to determine the optimal signal light timing. This is especially the case on a system-wide (multiple intersection) basis. Much of this difficulty has stemmed from the need to build extremely complex open-loop models of the traffic dynamics as a component of the control strategy. This paper presents a fundamentally different approach for optimal light timing that eliminates the need for such an open-loop model. The approach is based on a neural network (or other function approximator) serving as the basis for the control law, with the weight estimation occurring in closed-loop mode via the simultaneous perturbation stochastic approximation (SPSA) algorithm. Since the SPSA algorithm requires only loss function measurements (no gradients of the loss function), there is no open-loop model required for the weight estimation. The approach is illustrated by simulation on a six-intersection network with moderate congestion and stochastic, nonlinear effects.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"70 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":"114418185","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}
It is well known that the dynamics of multi-link flexible arm from the join actuators to the tip position are non-minimum phase. Therefore, many available adaptive nonlinear control techniques are not applicable to flexible manipulators. In this paper, utilization of extra actuation along the flexible links is considered. Addition of piezoceramic sensors and actuators at proper locations of the arm will yield a minimum phase system. This will allow application of nonlinear feedback methodologies available in the literature. In this paper, experimental results on vibration suppression and end-effector position tracking for a flexible manipulator with embedded piezoceramics are presented. Experimental setups have been developed at Control/Robotics Research Laboratory (CRRL) to study modeling issues and control design approaches for flexible structures with embedded (or surface-mounted) piezoceramics.<>
{"title":"Adaptive nonlinear control for end-effector position tracking of multi-link flexible manipulators with embedded active materials","authors":"F. Khorrami","doi":"10.1109/CDC.1994.411038","DOIUrl":"https://doi.org/10.1109/CDC.1994.411038","url":null,"abstract":"It is well known that the dynamics of multi-link flexible arm from the join actuators to the tip position are non-minimum phase. Therefore, many available adaptive nonlinear control techniques are not applicable to flexible manipulators. In this paper, utilization of extra actuation along the flexible links is considered. Addition of piezoceramic sensors and actuators at proper locations of the arm will yield a minimum phase system. This will allow application of nonlinear feedback methodologies available in the literature. In this paper, experimental results on vibration suppression and end-effector position tracking for a flexible manipulator with embedded piezoceramics are presented. Experimental setups have been developed at Control/Robotics Research Laboratory (CRRL) to study modeling issues and control design approaches for flexible structures with embedded (or surface-mounted) piezoceramics.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"2 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":"121908371","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 new approach for fault detection and isolation in discrete time nonlinear systems is presented. The diagnostic approach proposed has the following peculiarities stipulated by using recalculation of observable signals of the dynamic system (DS): a) the problem of system parameter estimation is replaced by a set of local problems of unit parameter estimation; b) the whole diagnostic problem for DS is composed of a finite set of simple "basic" subprocedures, and the complexity of the diagnostic problem for any DS from the class of interest depends only on the number and sequence of such subprocedures.<>
{"title":"Model-based fault diagnosis for discrete-time nonlinear systems with use of recalculation of observable dynamics","authors":"E.K. Kornoushenko, V. Gerasimov, A. Bernstein","doi":"10.1109/CDC.1994.411319","DOIUrl":"https://doi.org/10.1109/CDC.1994.411319","url":null,"abstract":"A new approach for fault detection and isolation in discrete time nonlinear systems is presented. The diagnostic approach proposed has the following peculiarities stipulated by using recalculation of observable signals of the dynamic system (DS): a) the problem of system parameter estimation is replaced by a set of local problems of unit parameter estimation; b) the whole diagnostic problem for DS is composed of a finite set of simple \"basic\" subprocedures, and the complexity of the diagnostic problem for any DS from the class of interest depends only on the number and sequence of such subprocedures.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"1 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":"129711404","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 two-dimensional linear-convex deterministic singular control problem is posed and solved. The interest here is the explicitness of the results and the relation between the geometry of the drift along the free boundary of the problem and the principle of smooth fit.<>
{"title":"Linear-convex singular control in two dimensions","authors":"G. Ferreyra, O. Hijab","doi":"10.1109/CDC.1994.411537","DOIUrl":"https://doi.org/10.1109/CDC.1994.411537","url":null,"abstract":"A two-dimensional linear-convex deterministic singular control problem is posed and solved. The interest here is the explicitness of the results and the relation between the geometry of the drift along the free boundary of the problem and the principle of smooth fit.<<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":"128756145","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}
We discuss the issue of local (global) stabilizability of nonholonomic systems. We show that if a nonholonomic system with less inputs as states presents certain geometric features, mainly the existence of a controlled invariant distribution, and if it is non continuous, it is possible to design a locally (globally) stabilizing continuously differentiable (smooth) control law around a point of discontinuity. The main contribution of the paper rests on a sufficient condition for stabilizability of discontinuous nonholonomic systems and on the use of a non-smooth coordinate transformation to overcome the obstruction of stabilizability contained in Brockett's theorem.<>
{"title":"On the stabilization of nonholonomic systems","authors":"A. Astolfi","doi":"10.1109/CDC.1994.411685","DOIUrl":"https://doi.org/10.1109/CDC.1994.411685","url":null,"abstract":"We discuss the issue of local (global) stabilizability of nonholonomic systems. We show that if a nonholonomic system with less inputs as states presents certain geometric features, mainly the existence of a controlled invariant distribution, and if it is non continuous, it is possible to design a locally (globally) stabilizing continuously differentiable (smooth) control law around a point of discontinuity. The main contribution of the paper rests on a sufficient condition for stabilizability of discontinuous nonholonomic systems and on the use of a non-smooth coordinate transformation to overcome the obstruction of stabilizability contained in Brockett's theorem.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"50 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":"128688980","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}
Looks at the format and objectives of the session and lists the application areas which include: manufacturing; automotive control; semiconductor process control; chemical process control; robotics; IHVS; ATC; power systems; aerospace and marine vehicles; environmental emissions control; jet engine control; materials processing and metallurgy; communications network control; and HVAC.<>
{"title":"Introduction and motivation; objectives and format for the real-life control design challenge problem session","authors":"R. Mehra, K. Baheti","doi":"10.1109/CDC.1994.411216","DOIUrl":"https://doi.org/10.1109/CDC.1994.411216","url":null,"abstract":"Looks at the format and objectives of the session and lists the application areas which include: manufacturing; automotive control; semiconductor process control; chemical process control; robotics; IHVS; ATC; power systems; aerospace and marine vehicles; environmental emissions control; jet engine control; materials processing and metallurgy; communications network control; and HVAC.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"36 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":"129635841","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}
GPC strategies with guaranteed stability are adapted to give a mean-level result for unstable plant.<>
对具有稳定性保证的 GPC 策略进行调整，以给出不稳定工厂的平均水平结果。
{"title":"GPC controllers with guaranteed stability and mean-level control of unstable plant","authors":"J. Rossiter","doi":"10.1109/CDC.1994.411704","DOIUrl":"https://doi.org/10.1109/CDC.1994.411704","url":null,"abstract":"GPC strategies with guaranteed stability are adapted to give a mean-level result for unstable plant.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"21 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":"130364710","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}
Uses an approach based on sliding mode control to design a feedback which stabilizes the origin for a class of nonlinear driftless systems of the form x/spl dot/=B(x)u. introduced by Brockett (1993). Brockett showed that these systems fail his necessary condition for the existence of smooth feedback.<>
{"title":"Stabilization of a nonholonomic system via sliding modes","authors":"A. Bloch, S. Drakunov","doi":"10.1109/CDC.1994.411342","DOIUrl":"https://doi.org/10.1109/CDC.1994.411342","url":null,"abstract":"Uses an approach based on sliding mode control to design a feedback which stabilizes the origin for a class of nonlinear driftless systems of the form x/spl dot/=B(x)u. introduced by Brockett (1993). Brockett showed that these systems fail his necessary condition for the existence of smooth feedback.<<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":"130421574","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, we consider the problems of stability and robust stabilization of nonlinear descriptor systems. Lyapunov stability theory for conventional systems is extended in a natural way to nonlinear descriptor systems, and some stability theorems for descriptor systems are given. By making use of the stability results on nonlinear descriptor systems developed above, we also discuss the robust stabilization problem of an important class of nonlinear descriptor systems with uncertain perturbations, and propose a class of stabilizing state feedback controllers for this class of uncertain descriptor systems.<>
{"title":"Stability and robust stabilization of nonlinear descriptor systems with uncertainties","authors":"Hansheng Wu, K. Mizukami","doi":"10.1109/CDC.1994.411381","DOIUrl":"https://doi.org/10.1109/CDC.1994.411381","url":null,"abstract":"In this paper, we consider the problems of stability and robust stabilization of nonlinear descriptor systems. Lyapunov stability theory for conventional systems is extended in a natural way to nonlinear descriptor systems, and some stability theorems for descriptor systems are given. By making use of the stability results on nonlinear descriptor systems developed above, we also discuss the robust stabilization problem of an important class of nonlinear descriptor systems with uncertain perturbations, and propose a class of stabilizing state feedback controllers for this class of uncertain descriptor systems.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"30 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":"129101026","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}
It is shown that the LQG optimal controller is a continuous function of the plant. The result is proved for a class of plants which contains the class of strictly proper finite-dimensional plants. The topology employed is the one generated by convergence of the closed loop transfer functions in an induced L/sub /spl infin// sense. This topology is slightly stronger than the usual (H/sub 2/) gap metric convergence on transfer functions.<>
{"title":"Continuity properties of LQG optimal controllers","authors":"Michael Green, Malcolm C. Smith","doi":"10.1109/CDC.1994.411608","DOIUrl":"https://doi.org/10.1109/CDC.1994.411608","url":null,"abstract":"It is shown that the LQG optimal controller is a continuous function of the plant. The result is proved for a class of plants which contains the class of strictly proper finite-dimensional plants. The topology employed is the one generated by convergence of the closed loop transfer functions in an induced L/sub /spl infin// sense. This topology is slightly stronger than the usual (H/sub 2/) gap metric convergence on transfer functions.<<ETX>>","PeriodicalId":355623,"journal":{"name":"Proceedings of 1994 33rd IEEE Conference on Decision and Control","volume":"28 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":"123853420","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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