Recent results on locally optimal and globally inverse optimal full-state feedback designs for strict-feedback systems are being extended for output-feedback systems in output-feedback form. The dynamic output-feedback control law for such systems is constructed under the assumption that the derivative of the measured output is available for feedback, and achieves local optimality and global inverse optimality with a prescribed L/sub 2/-gain. When that assumption is subsequently dropped, the control law achieves semi-global inverse optimality and local near-optimality.
{"title":"Disturbance attenuating output-feedback control of nonlinear systems with local optimality","authors":"K. Ezal, P. Kokotovic, A. Teel, T. Başar","doi":"10.1109/ACC.1999.786528","DOIUrl":"https://doi.org/10.1109/ACC.1999.786528","url":null,"abstract":"Recent results on locally optimal and globally inverse optimal full-state feedback designs for strict-feedback systems are being extended for output-feedback systems in output-feedback form. The dynamic output-feedback control law for such systems is constructed under the assumption that the derivative of the measured output is available for feedback, and achieves local optimality and global inverse optimality with a prescribed L/sub 2/-gain. When that assumption is subsequently dropped, the control law achieves semi-global inverse optimality and local near-optimality.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"199 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":"133496275","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}
Several recent developments have made it possible to begin exploring in formal ways the trajectory space of epitaxial growth during molecular beam epitaxy. This paper reviews the fundamentals of trajectory morphing and presents results showing that trajectory morphing may be used to explore the trajectory space of an epitaxial thin film growth system. We have derived a simplified growth model, suitable for use in morphing, and this is also presented. are reviewed.
{"title":"Trajectory morphing applied to epitaxial thin film growth","authors":"A. Engelmann, D. Meyer, J. Hauser, R. Caflisch","doi":"10.1109/ACC.1999.782435","DOIUrl":"https://doi.org/10.1109/ACC.1999.782435","url":null,"abstract":"Several recent developments have made it possible to begin exploring in formal ways the trajectory space of epitaxial growth during molecular beam epitaxy. This paper reviews the fundamentals of trajectory morphing and presents results showing that trajectory morphing may be used to explore the trajectory space of an epitaxial thin film growth system. We have derived a simplified growth model, suitable for use in morphing, and this is also presented. are reviewed.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"62 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":"114221487","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}
Stable inversion techniques can be used to achieve high-accuracy output tracking. However, for nonminimum phase systems, the inverse is noncausal-hence the inverse has to be precomputed using a pre-specified desired-output trajectory. This requirement for pre-specification of the desired output restricts the use of inversion-based approaches to trajectory planning problems (for nonminimum phase systems). In the article, it is shown that preview information of the desired output can be used to achieve online inversion-based output tracking of linear systems. The amount of preview-time needed is quantified in terms of the tracking error and the internal dynamics of the system (zeros of the system). The methodology is applied to the online output tracking of a flexible structure and experimental results are presented.
{"title":"Preview-based stable-inversion for output tracking","authors":"Q. Zou, S. Devasia","doi":"10.1109/ACC.1999.782426","DOIUrl":"https://doi.org/10.1109/ACC.1999.782426","url":null,"abstract":"Stable inversion techniques can be used to achieve high-accuracy output tracking. However, for nonminimum phase systems, the inverse is noncausal-hence the inverse has to be precomputed using a pre-specified desired-output trajectory. This requirement for pre-specification of the desired output restricts the use of inversion-based approaches to trajectory planning problems (for nonminimum phase systems). In the article, it is shown that preview information of the desired output can be used to achieve online inversion-based output tracking of linear systems. The amount of preview-time needed is quantified in terms of the tracking error and the internal dynamics of the system (zeros of the system). The methodology is applied to the online output tracking of a flexible structure and experimental results are presented.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"19 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":"125152030","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 note provides explicit, algebraic stabilizing formulas for control Lyapunov functions when controls are restricted to certain Minkowski balls in Euclidean space. Feedbacks of this kind are known to exist by a theorem of Artstein (1995), but the proof of Artstein's theorem is nonconstructive. The formulas are used to construct approximation solutions to some stabilization problems.
{"title":"Universal formulas for CLFs with respect to Minkowski balls","authors":"Michael A. Malisoff, Eduardo Sontag","doi":"10.1109/ACC.1999.782318","DOIUrl":"https://doi.org/10.1109/ACC.1999.782318","url":null,"abstract":"This note provides explicit, algebraic stabilizing formulas for control Lyapunov functions when controls are restricted to certain Minkowski balls in Euclidean space. Feedbacks of this kind are known to exist by a theorem of Artstein (1995), but the proof of Artstein's theorem is nonconstructive. The formulas are used to construct approximation solutions to some stabilization problems.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"60 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":"129353087","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 a discrete time adaptive inversion scheme for linear systems and its usage in adaptive feedforward and feedback controllers. Two parameter adaptation algorithms (PAA) were used in the proposed schemes. The first PAA applies the extended bias-eliminating least-squares (EBELS) algorithm for plant estimation to ensure convergence to a tuned model under colored noise and unmodeled dynamics. The second PAA applies EBELS or least mean squares (LMS), respectively for two adaptive inversion schemes, to estimate a finite impulse response (FIR) plant inverse filter. A feedforward and a repetitive feedback control algorithms are designed respectively by including the adaptive inverse filter.
{"title":"Adaptive tracking control by system inversion","authors":"Zongxuan Sun, T. Tsao","doi":"10.1109/ACC.1999.782734","DOIUrl":"https://doi.org/10.1109/ACC.1999.782734","url":null,"abstract":"This paper presents a discrete time adaptive inversion scheme for linear systems and its usage in adaptive feedforward and feedback controllers. Two parameter adaptation algorithms (PAA) were used in the proposed schemes. The first PAA applies the extended bias-eliminating least-squares (EBELS) algorithm for plant estimation to ensure convergence to a tuned model under colored noise and unmodeled dynamics. The second PAA applies EBELS or least mean squares (LMS), respectively for two adaptive inversion schemes, to estimate a finite impulse response (FIR) plant inverse filter. A feedforward and a repetitive feedback control algorithms are designed respectively by including the adaptive inverse filter.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"98 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":"132656139","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}
Feedforward control architectures have been widely used in active noise control systems to achieve broadband noise reductions. The basic principle of the control algorithm requires that the feedforward signal, usually the noise source, be independent from the actuator's output. Fail to meet this requirement implies that the overall system contains an acoustic feedback loop and stability/robustness issues become important. This paper investigates this problem in a 1D sound field (e.g., ducts) using a unidirectional sound wave as the feedforward signal. The controller design based on a distributed parameter model is studied. Several experiments are conducted to illustrate the design procedure as well as verify the effectiveness of broadband noise reductions.
{"title":"Feedforward active noise controller design in ducts without independent noise source measurements","authors":"Jwusheng Hu, Jyh-Feng Lin","doi":"10.1109/ACC.1999.782368","DOIUrl":"https://doi.org/10.1109/ACC.1999.782368","url":null,"abstract":"Feedforward control architectures have been widely used in active noise control systems to achieve broadband noise reductions. The basic principle of the control algorithm requires that the feedforward signal, usually the noise source, be independent from the actuator's output. Fail to meet this requirement implies that the overall system contains an acoustic feedback loop and stability/robustness issues become important. This paper investigates this problem in a 1D sound field (e.g., ducts) using a unidirectional sound wave as the feedforward signal. The controller design based on a distributed parameter model is studied. Several experiments are conducted to illustrate the design procedure as well as verify the effectiveness of broadband noise reductions.","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":"116664864","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}
H. Sira-Ramírez, R. Castro-Linares, E. Licéaga-Castro
A feedback regulation scheme is presented for a wide range of horizontal and vertical displacement manoeuvres on a simplified longitudinal model of a helicopter system. The approach is based on the "Liouvillian" property of the helicopter model, rather than its differential flatness, thus requiring only a static, though time-varying, state feedback controller which tracks an off-line planned trajectory planning for the attitude angle reference signal computed in terms of the desired horizontal and vertical displacements. The controller performance is evaluated through digital computer simulations which include initial setting errors and an unmodelled mid course wind gust perturbation of significant magnitude.
{"title":"Regulation of the longitudinal dynamics of an helicopter: a Liouvillian systems approach","authors":"H. Sira-Ramírez, R. Castro-Linares, E. Licéaga-Castro","doi":"10.1109/ACC.1999.786571","DOIUrl":"https://doi.org/10.1109/ACC.1999.786571","url":null,"abstract":"A feedback regulation scheme is presented for a wide range of horizontal and vertical displacement manoeuvres on a simplified longitudinal model of a helicopter system. The approach is based on the \"Liouvillian\" property of the helicopter model, rather than its differential flatness, thus requiring only a static, though time-varying, state feedback controller which tracks an off-line planned trajectory planning for the attitude angle reference signal computed in terms of the desired horizontal and vertical displacements. The controller performance is evaluated through digital computer simulations which include initial setting errors and an unmodelled mid course wind gust perturbation of significant magnitude.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"150 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":"125772132","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}
While a cutting tool is machining a workpiece at various cutting depth, the feedrate is usually selected based on the maximum depth of cut. Many adaptive control techniques have been reported that can adjust the feedrate to maintain the constant cutting force. However, these controllers are not very widely used in manufacturing industry because of the limitations in measuring the cutting force signals. In this paper, turning force control systems based on the estimated cutting force signals are proposed. A synthesized cutting force monitor is introduced to estimate the cutting force as accurately as a dynamometer does. Three control strategies of PI, adaptive and fuzzy logic controllers are applied to investigate the feasibility of utilizing the estimated cutting force for turning force control. Experimental results demonstrate that the proposed systems can be easily realized in a CNC lathe requiring little additional hardware.
{"title":"Turning force control systems based on the estimated cutting force signals","authors":"K. Huh, Jacok Kim","doi":"10.1109/ACC.1999.782914","DOIUrl":"https://doi.org/10.1109/ACC.1999.782914","url":null,"abstract":"While a cutting tool is machining a workpiece at various cutting depth, the feedrate is usually selected based on the maximum depth of cut. Many adaptive control techniques have been reported that can adjust the feedrate to maintain the constant cutting force. However, these controllers are not very widely used in manufacturing industry because of the limitations in measuring the cutting force signals. In this paper, turning force control systems based on the estimated cutting force signals are proposed. A synthesized cutting force monitor is introduced to estimate the cutting force as accurately as a dynamometer does. Three control strategies of PI, adaptive and fuzzy logic controllers are applied to investigate the feasibility of utilizing the estimated cutting force for turning force control. Experimental results demonstrate that the proposed systems can be easily realized in a CNC lathe requiring little additional hardware.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"16 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":"127694789","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}
Continues the investigation of the integral version of input-to-state stability (iISS). We study the problem of designing control laws that achieve iISS disturbance attenuation. The main contribution is a concept of control Lyapunov function whose existence leads to an explicit construction of such a control law. The results are compared with the ones available for the ISS case.
{"title":"On integral-input-to-state stabilization","authors":"D. Liberzon, Eduardo Sontag, Y. Wang","doi":"10.1109/ACC.1999.786098","DOIUrl":"https://doi.org/10.1109/ACC.1999.786098","url":null,"abstract":"Continues the investigation of the integral version of input-to-state stability (iISS). We study the problem of designing control laws that achieve iISS disturbance attenuation. The main contribution is a concept of control Lyapunov function whose existence leads to an explicit construction of such a control law. The results are compared with the ones available for the ISS case.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"11 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":"130304633","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 addresses the problem of model reduction for uncertain discrete-time systems with convex bounded (polytope type) uncertainty. A reduced order precisely known model is obtained in such a way that the H/sub 2/ and/or the H/sub /spl infin// guaranteed norm of the error between the original (uncertain) system and the reduced one is minimized. The optimization problems are formulated in terms of coupled (nonconvex) linear matrix inequalities, being solved through iterative algorithms. Examples illustrate the results.
{"title":"H/sub 2/ and/or H/sub /spl infin//-norm model reduction of uncertain discrete-time systems","authors":"E. Assunção, P. Peres","doi":"10.1109/ACC.1999.786428","DOIUrl":"https://doi.org/10.1109/ACC.1999.786428","url":null,"abstract":"This paper addresses the problem of model reduction for uncertain discrete-time systems with convex bounded (polytope type) uncertainty. A reduced order precisely known model is obtained in such a way that the H/sub 2/ and/or the H/sub /spl infin// guaranteed norm of the error between the original (uncertain) system and the reduced one is minimized. The optimization problems are formulated in terms of coupled (nonconvex) linear matrix inequalities, being solved through iterative algorithms. Examples illustrate the results.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"92 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":"124573105","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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