IEEE Transactions on Automatic Control

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The polynomial approach to the LQ non-Gaussian regulator problem
IEEE Transactions on Automatic Control - Tập 47 Số 8 - Trang 1385-1391 - 2002
A. Germani, G. Mavelli
A new approach for the solution of the regulator problem for linear discrete-time dynamical systems with non-Gaussian disturbances is proposed. This approach generalizes a previous result concerning the definition of the quadratic optimal regulator. It consists of the definition of the polynomial optimal algorithm of an order /spl nu/ for the solution of the linear quadratic non-Gaussian stochasti...... hiện toàn bộ
#Polynomials #Regulators #Stochastic systems #Nonlinear filters #Optimal control #Control systems #Numerical simulation #Equations #State estimation #Feedback control
Motion and shape identification with vision and range
IEEE Transactions on Automatic Control - Tập 47 Số 8 - Trang 1392-1396 - 2002
S. Takahashi, B.K. Ghosh
In this paper, we consider the problem of motion and shape estimation using a camera and a laser range finder. The object considered is a plane which is undergoing a Riccati motion. The camera observes features on the moving plane perspectively. The range-finder camera is capable of obtaining the range of the plane along a given "laser plane", which can either be kept fixed or can be altered in ti...... hiện toàn bộ
#Shape #Cameras #Motion estimation #Charge coupled devices #Charge-coupled image sensors #Riccati equations #Machine vision #Parameter estimation #Sensor phenomena and characterization #Mobile robots
Crossover frequency limitations in MIMO nonminimum phase feedback systems
IEEE Transactions on Automatic Control - Tập 47 Số 9 - Trang 1560-1564 - 2002
O. Yaniv, P.-O. Gutman
This paper investigates limitations and design tradeoffs of the closed-loop sensitivity/performance of linear-time-invariant nonminimum-phase uncertain multiple-input-multiple-output plants, with I inputs and m outputs, where m /spl les/ l. It is shown that if rows i/sub 1/...,i/sub k/ of the plant transfer function form a k /spl times/ l nonminimum phase transfer matrix, and if the design is such...... hiện toàn bộ
#Frequency #MIMO #Transfer functions #Bandwidth #Agricultural engineering #Aerospace control #Filtering theory #Output feedback #Poles and zeros #Control systems
NP-completeness of sensor selection problems arising in partially observed discrete-event systems
IEEE Transactions on Automatic Control - Tập 47 Số 9 - Trang 1495-1499 - 2002
Tae-Sic Yoo, S. Lafortune
We consider the three properties of diagnosability, normality, and observability of discrete-event systems. In each case, we consider the problem of finding an observable event set with minimum cardinality such that the property under consideration holds. We prove that these search problems are computationally hard by showing that the corresponding decision problems are NP-complete.
#Sensor systems #Discrete event systems #Sensor phenomena and characterization #Automatic control #Observability #Polynomials #Control systems #Computational complexity #Search problems #Gold
Comment on "A new method for the nonlinear transformation of means and covariances in filters and estimators" [with authors' reply]
IEEE Transactions on Automatic Control - Tập 47 Số 8 - Trang 1406-1409 - 2002
T. Lefebvre, H. Bruyninckx, J. De Schuller
The above paper (Julier et al. IEEE Trans. Automat. Contr, vol. 45, pp. 477-82, 2000) generalizes the Kalman filter to nonlinear systems by transforming approximations of the probability distributions through the nonlinear process and measurement functions. This comment derives exactly the same estimator by linearizing the process and measurement functions by a statistical linear regression throug...... hiện toàn bộ
#Filters #Nonlinear systems #State estimation #Noise measurement #Time measurement #Covariance matrix #Linear regression #Additive noise #Equations #Probability distribution
Limit cycles with chattering in relay feedback systems
IEEE Transactions on Automatic Control - Tập 47 Số 9 - Trang 1414-1423 - 2002
K.H. Johansson, A.E. Barabanov, K.J. Astrom
Relay feedback has a large variety of applications in control engineering. Several interesting phenomena occur in simple relay systems. In the paper, scalar linear systems with relay feedback are analyzed. It is shown that a limit cycle where part of the limit cycle consists of fast relay switchings can occur. This chattering is analyzed in detail and conditions for approximating it by a sliding m...... hiện toàn bộ
#Limit-cycles #Sliding mode control #Control systems #Digital relays #Temperature control #Automatic control #Delta modulation #Nonlinear control systems #Feedback loop #Three-term control
Task-space adaptive control of robotic manipulators with uncertainties in gravity regressor matrix and kinematics
IEEE Transactions on Automatic Control - Tập 47 Số 9 - Trang 1580-1585 - 2002
H. Yazarel, C.C. Cheah
Thus far, most research in adaptive control of robotic manipulators has assumed that models of regressor matrix and kinematics are known exactly. To overcome these drawbacks, we propose in this paper a task-space adaptive law for setpoint control of robots with uncertainties in gravity regressor matrix and kinematics. In addition, we investigate the stability problem when an estimated task-space v...... hiện toàn bộ
#Adaptive control #Manipulators #Uncertainty #Gravity #Kinematics #Jacobian matrices #Stability #Programmable control #Robot control #Feedback loop
Input-to-state dynamical stability and its Lyapunov function characterization
IEEE Transactions on Automatic Control - Tập 47 Số 9 - Trang 1499-1504 - 2002
L. Grune
We present a new variant of the input-to-state stability (ISS) property which is based on using a one-dimensional dynamical system for building the class /spl Kscr//spl Lscr/ function for the decay estimate and for describing the influence of the perturbation. We show the relation to the original ISS formulation and describe characterizations by means of suitable Lyapunov functions. As application...... hiện toàn bộ
#Stability #Lyapunov method #Polynomials #Automatic control #Communication system control #Observability #Discrete event systems #Sensor systems #Actuators
Polynomial-time verification of diagnosability of partially observed discrete-event systems
IEEE Transactions on Automatic Control - Tập 47 Số 9 - Trang 1491-1495 - 2002
Tae-Sic Yoo, S. Lafortune
The problem of verifying the properties of diagnosability and I-diagnosability is considered. We present new polynomial-time algorithms for deciding diagnosability and I-diagnosability. These algorithms are based on the construction of a nondeterministic automaton called a verifier.
#Polynomials #Discrete event systems #State-space methods #Automata #System testing #Automatic testing #Observability #Energy management
Discontinuous feedback stabilization of minimum-phase semilinear infinite-dimensional systems with application to chemical tubular reactor
IEEE Transactions on Automatic Control - Tập 47 Số 8 - Trang 1293-1304 - 2002
Y. Orlov, D. Dochain
This paper develops discontinuous control methods for minimum-phase semilinear infinite-dimensional systems driven in a Hilbert space. The control algorithms presented ensure asymptotic stability, global or local accordingly, as state feedback or output feedback is available, as well as robustness of the closed-loop system against external disturbances with the a priori known norm bounds. The theo...... hiện toàn bộ
#Chemical reactors #Inductors #Temperature #Control systems #Plugs #Hilbert space #Asymptotic stability #State feedback #Output feedback #Robust control
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