This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by the nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem.
{"title":"Towards the supervisory control of uncertain nonholonomic systems","authors":"J. Hespanha, D. Liberzon, A. Morse","doi":"10.1109/ACC.1999.782421","DOIUrl":"https://doi.org/10.1109/ACC.1999.782421","url":null,"abstract":"This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by the nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"167 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121087343","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 is dealing with a development of friction compensation scheme for positional set-point regulation at DC motor servomechanism via smooth adaptive dynamic surface control design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability is achieved using Lyapunov's direct method. Numerical simulation is presented to confirm the capability of the proposed scheme.
{"title":"Friction compensation via smooth adaptive dynamic surface control","authors":"A. Maulana, H. Ohmori, A. Sano","doi":"10.1109/ACC.1999.782886","DOIUrl":"https://doi.org/10.1109/ACC.1999.782886","url":null,"abstract":"This paper is dealing with a development of friction compensation scheme for positional set-point regulation at DC motor servomechanism via smooth adaptive dynamic surface control design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability is achieved using Lyapunov's direct method. Numerical simulation is presented to confirm the capability of the proposed scheme.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129538410","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}
Introduces a strategy of induction machines speed adjustment using an adaptive PID digital controller with gain planning based on artificial neural networks. This digital controller uses an auxiliary variable to determine the ideal induction machine operating conditions and to establish the closed loop gain of the system. The auxiliary variable value can be estimated from the information stored in a general-purpose artificial neural network based on CMAC.
{"title":"New approach of induction machine drive using an adaptive digital PID controller with gain planning based on artificial neural networks","authors":"M. E. Bordon, I. D. da Silva, A. N. de Souza","doi":"10.1109/ACC.1999.786327","DOIUrl":"https://doi.org/10.1109/ACC.1999.786327","url":null,"abstract":"Introduces a strategy of induction machines speed adjustment using an adaptive PID digital controller with gain planning based on artificial neural networks. This digital controller uses an auxiliary variable to determine the ideal induction machine operating conditions and to establish the closed loop gain of the system. The auxiliary variable value can be estimated from the information stored in a general-purpose artificial neural network based on CMAC.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133931730","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}
Infinite-horizon nonlinear regulation of second order systems using the state dependent Riccati equation (SDRE) method is considered. By a convenient parametrization of the A(x) matrix, the state dependent algebraic Riccati equation is solved analytically. Thus, the closed-loop system equations are obtained in analytical form. Global stability analysis is performed by the second method of Lyapunov. By the aforementioned parametrization, it is sufficient for the Lyapunov function derivative to be negative semi-definite to achieve global asymptotic stability. Accordingly, a relatively simple condition for global asymptotic stability of the closed-loop system is derived. Two illustrative examples are included.
{"title":"Globally stabilizing second order nonlinear systems by SDRE control","authors":"E. B. Erdem, A. Alleyne","doi":"10.1109/ACC.1999.786502","DOIUrl":"https://doi.org/10.1109/ACC.1999.786502","url":null,"abstract":"Infinite-horizon nonlinear regulation of second order systems using the state dependent Riccati equation (SDRE) method is considered. By a convenient parametrization of the A(x) matrix, the state dependent algebraic Riccati equation is solved analytically. Thus, the closed-loop system equations are obtained in analytical form. Global stability analysis is performed by the second method of Lyapunov. By the aforementioned parametrization, it is sufficient for the Lyapunov function derivative to be negative semi-definite to achieve global asymptotic stability. Accordingly, a relatively simple condition for global asymptotic stability of the closed-loop system is derived. Two illustrative examples are included.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127669268","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 analyze an active leveler designed for automotive applications. The objective of the system is to maintain the height of the car body to a fixed value, despite changes in loads and driving conditions. The objective of the paper is to propose a verification method for checking that certain design specifications, or system performances are achieved. We are able to compute exact bounds on the maximum suspension deflection for the given model of the system and road disturbance. The motivation for this work comes from the disappointing results of Stanner et al. (1997) where the problem was approached by using HYTECH. The numerical and computational complexity problems reported in the above article have their common roots in the need to fit and approximate the actual model with a linear hybrid model.
{"title":"Verification of an automotive active leveler","authors":"N. Elia, B. Brandin","doi":"10.1109/ACC.1999.786493","DOIUrl":"https://doi.org/10.1109/ACC.1999.786493","url":null,"abstract":"We analyze an active leveler designed for automotive applications. The objective of the system is to maintain the height of the car body to a fixed value, despite changes in loads and driving conditions. The objective of the paper is to propose a verification method for checking that certain design specifications, or system performances are achieved. We are able to compute exact bounds on the maximum suspension deflection for the given model of the system and road disturbance. The motivation for this work comes from the disappointing results of Stanner et al. (1997) where the problem was approached by using HYTECH. The numerical and computational complexity problems reported in the above article have their common roots in the need to fit and approximate the actual model with a linear hybrid model.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129637189","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}
Considers global and semi-global robust stabilization problems for a class of uncertain nonlinear systems and develops a new systematic tool for robust backstepping. By choosing state-dependent scaling functions in each step of the backstepping design, one can construct robust control laws for an extended class of strict feedback systems. The scaling approach to robust backstepping treats both static and dynamic uncertainty in a unified way. The method is amenable to automatic computation based on optimization, and one can thus introduce performance objectives such as instantaneous control effort minimization into the design.
{"title":"A new look at robust backstepping through state-dependent scaling design","authors":"H. Ito, R. Freeman","doi":"10.1109/ACC.1999.782731","DOIUrl":"https://doi.org/10.1109/ACC.1999.782731","url":null,"abstract":"Considers global and semi-global robust stabilization problems for a class of uncertain nonlinear systems and develops a new systematic tool for robust backstepping. By choosing state-dependent scaling functions in each step of the backstepping design, one can construct robust control laws for an extended class of strict feedback systems. The scaling approach to robust backstepping treats both static and dynamic uncertainty in a unified way. The method is amenable to automatic computation based on optimization, and one can thus introduce performance objectives such as instantaneous control effort minimization into the design.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123113323","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 synthesize robust static output feedback controllers for systems of quasi-linear parabolic partial differential equations with time-dependent spatial domains and uncertain variables. The controllers are successfully applied to a typical diffusion-reaction process with moving boundary and uncertainty.
{"title":"Robust output feedback control of parabolic PDE systems with time-dependent spatial domains","authors":"A. Armaou, P. Christofides","doi":"10.1109/ACC.1999.786132","DOIUrl":"https://doi.org/10.1109/ACC.1999.786132","url":null,"abstract":"We synthesize robust static output feedback controllers for systems of quasi-linear parabolic partial differential equations with time-dependent spatial domains and uncertain variables. The controllers are successfully applied to a typical diffusion-reaction process with moving boundary and uncertainty.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130640078","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 neurocontrol method for robot manipulators is presented. A single-layer dynamic neural network is used to estimate the unknown manipulators, then a direct linearization controller is derived based on the neuro identifier. Because the approximation capability is limited, another PD-like controller is applied to compensate the unmodeled dynamics. The main contribution of the paper is that the boundness of the identification error and tracking error are established.
{"title":"Adaptive control of two-link manipulator via dynamic neural network","authors":"Wen Yu, A. Poznyak, Encarna Sosa Sánchez","doi":"10.1109/ACC.1999.786507","DOIUrl":"https://doi.org/10.1109/ACC.1999.786507","url":null,"abstract":"A neurocontrol method for robot manipulators is presented. A single-layer dynamic neural network is used to estimate the unknown manipulators, then a direct linearization controller is derived based on the neuro identifier. Because the approximation capability is limited, another PD-like controller is applied to compensate the unmodeled dynamics. The main contribution of the paper is that the boundness of the identification error and tracking error are established.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127605877","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 set of higher order rational fixed point functions for computing the matrix sign function of complex matrices is developed. Our main focus is the representation of these rational functions in partial fraction form which in turn allows for a parallel implementation of the matrix sign function algorithms. The matrix sign function is then used to compute the positive semidefinite solution of the algebraic Riccati and Lyapunov matrix equations. It is also suggested that the proposed methods can be used to compute the invariant subspaces of a nonsingular matrix in any half plane. The performance of these methods is demonstrated by several examples.
{"title":"A method for solving the algebraic Riccati and Lyapunov equations using higher order matrix sign function algorithms","authors":"M. Hasan, Jiann-Shiou Yang, A. Hasan","doi":"10.1109/ACC.1999.786463","DOIUrl":"https://doi.org/10.1109/ACC.1999.786463","url":null,"abstract":"A set of higher order rational fixed point functions for computing the matrix sign function of complex matrices is developed. Our main focus is the representation of these rational functions in partial fraction form which in turn allows for a parallel implementation of the matrix sign function algorithms. The matrix sign function is then used to compute the positive semidefinite solution of the algebraic Riccati and Lyapunov matrix equations. It is also suggested that the proposed methods can be used to compute the invariant subspaces of a nonsingular matrix in any half plane. The performance of these methods is demonstrated by several examples.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130859908","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 presents an input-output point of view for the problem of optimal command following and disturbance rejection when a particular hierarchical structure is imposed on the decision making units of the system. This structure constraints the transmission of information to be only from upper to lower levels and not vice versa. By using model matching methods the problem is shown to be convex. Techniques to solve this convex yet nonstandard problem are discussed.
{"title":"Control under a hierarchical decision making structure","authors":"P. Voulgaris","doi":"10.1109/ACC.1999.786572","DOIUrl":"https://doi.org/10.1109/ACC.1999.786572","url":null,"abstract":"This paper presents an input-output point of view for the problem of optimal command following and disturbance rejection when a particular hierarchical structure is imposed on the decision making units of the system. This structure constraints the transmission of information to be only from upper to lower levels and not vice versa. By using model matching methods the problem is shown to be convex. Techniques to solve this convex yet nonstandard problem are discussed.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131928635","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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