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When is a model good for control design?

When is a model good for control design?

引用

IEEE Conference on Decision and Control

作者： V. Blondel M. Gevers R.R. Bitmead Institut de Mathématique Université de Liège Liege Belgium CESAME Centre for Systems Engineering and Applied Mechanics Universittaté catholique de Louvain Belgium Cooperative Research Centre for Robust and Adaptive Systems Department of Systems Engineering Australian National University Canberra ACT Australia

The use of an identified model for the design of a feedback controller for an actual plant introduces strictures on the quality of the model which are different from those pertaining in open loop identification. For example, a model P/spl circ/ is admissible for the design of a controller for the actual plant P only if the pair (P/spl circ/, P) is simultaneously stabilizable. This paper addresses the question of the quality of a model to be used for control design, by analysing the interplay between the plant P, the designed closed loop system T and the set of admissible models {P/spl circ/}. For given P and T we characterize the set of admissible models {P/spl circ/}, where admissible means that a controller designed from P/spl circ/ and T yields a stable closed loop. Necessary conditions on (P, T) are derived for this set to be nonempty.

关键词： Control design systems engineering and theory Closed loop systems Force control Transfer functions robustness adaptive systems Open loop systems Control system analysis Frequency

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Direct adaptive control for tonal disturbance rejection

Direct adaptive control for tonal disturbance rejection

引用

American Control Conference (ACC)

作者： Y. Zhang P.G. Mehta R.R. Bitmead C.R. Johnson United Technologies Research Center Inc. East Hartford CT USA Department of Systems Engineering and Cooperative Research Centre for Robust and Adaptive Systems RSISE Australian National University Canberra Australia School of Electrical Engineering Cornell University Ithaca NY USA

In this paper, the problem of tonal disturbance rejection via direct adaptive control is considered. The key problem feature is compared with the usual adaptive tracking problem. Traditional model reference and pole placement approaches are attempted, and their advantages and drawbacks are given. We then propose an adaptive solution based on a new parametrization scheme which is unique to the given problem. Simulation studies are used to compare these different schemes.

关键词： adaptive control Vehicle dynamics adaptive systems Acoustic noise Noise cancellation Low-frequency noise Control systems Actuators Frequency estimation Programmable control

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An Hmm Soft-Output Decoder for Qam Signals with a Clustered Constellation

An Hmm Soft-Output Decoder for Qam Signals with a Clustered ...

引用

International Symposium on Signal Processing and Its Applications (ISSPA)

作者： I.B. Collings J.B. Moore Cooperative Research Centre for Sensor Signal and Information Processing Department of Electrical and Electronic Engineering. University of Melbourne Parkville VIC Australia Cooperative Research Centre for Robust and Adaptive Systems Department of Systems Engineering. RSISE Australian National University Canberra ACT Australia

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A self-tuning regulator for vibration control

A self-tuning regulator for vibration control

引用

IEEE Conference on Decision and Control

作者： B.F. La Scala R.R. Bitmead Department of Electrical and Electronic Engineering Co-operative Research Centre for Sensor Signal and Information Processing University of Melbourne Parkville VIC Australia Department of Systems Engineering Co-operative Research Centre for Robust and Adaptive Systems RSISE-Australian National University Canberra ACT Australia

This paper examines the problem of eliminating a vibrational disturbance from the output of a linear, time-invariant and unknown system. Theory is presented which shows that it is possible to design an adaptive controller which will converge to a stable controller which regulates the system. Moreover, using this adaptive control scheme, it is possible to estimate consistently the frequency of the disturbance. This contrasts with the well-known bias that occurs when estimating the frequency of a sinusoid in open loop.

关键词： adaptive control Vibration control Open loop systems Frequency estimation Programmable control Equations Control systems Sensor systems Signal processing Information processing

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Grasping force optimization for multi-fingered robot hands

Grasping force optimization for multi-fingered robot hands

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： M. Buss H. Hashimoto J.B. Moore Departineiit of Autoinatir Control Engineering Technical University Munich Muenchen Germany Department or Systems Engineering and Cooperat ive Kesearch Centre for Robust and Adaptive Systcnis Rcscarch of Information Sciences and Engineering Australian National University Canberra ACT Australia

For dextrous robotic hand grasping a key goal is to balance external and internal grasping forces to assure a stable grasp and low grasping energy. In this paper, the authors view the task of grasping force optimization as a linearly constrained semidefinite programming problem for which there are known globally exponentially convergent solutions via gradient flows. A key observation is that the nonlinear friction constraint at each contact point is equivalent to the positive definiteness of a suitable matrix containing the contact wrench intensities. A recursive version is presented, and numerical examples demonstrate the simplicity, the good numerical properties, and optimality of the approach.

关键词： Grasping Friction Linear programming Fingers Robot programming systems engineering and theory robustness Robotics and automation Linear matrix inequalities Robot kinematics

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LMS estimation of sparsely parametrized channels via structural detection

LMS estimation of sparsely parametrized channels via structu...

引用

IEEE Conference on Decision and Control

作者： J. Homer I. Mareels B. Wahlberg F. Gustafsson R. Bitmead Department of Systems Engineering and Cooperative Research Centre for Robust and Adaptive Systems Australian National University Canberra ACT Australia S3-Automatic Control Royal Institute of Technology Stockholm Sweden Automatic Control Linköping University Linkoping Sweden

Considers the LMS estimation of "long" channels which have time domain impulse responses consisting of sparsely spaced nonzero taps or groups of taps. Standard LMS estimation of such long sparsely parametrized channels, in which all taps are estimated, suffers from poor transient and/or asymptotic performance. Analyses carried out by the authors indicate that performance improvements can be achieved by estimating only those taps which are nonzero or "active". The authors develop a simple procedure, based on the least squares method, which for sufficiently large N (the number of sample intervals) detects the correct number and position of active taps. Using this structure detection procedure the authors propose an LMS based estimation algorithm. Simulations indicate that this "LMS-structure detection" algorithm provides considerable performance improvement over the standard LMS algorithm.< >

关键词： Least squares approximation Finite impulse response filter Acoustic signal detection robust control adaptive systems Programmable control adaptive control Automatic control Australia Least squares methods

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robust Nonlinear Equalisation

Robust Nonlinear Equalisation

引用

International Symposium on Signal Processing and Its Applications (ISSPA)

作者： G.A. Einicke L.B. White The Co-operative Research Centre for Robust and Adaptive Systems Salisbury SA Australia Communications Division Defence Science and Technology Organisation Salisbury SA Australia The Department of Electrical and Electronic Engineering University of Adelaide Salisbury SA Australia

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adaptive Fixed Interval and Fixed Lag Smoothers for Improved Frequency Demodulation of Speech

Adaptive Fixed Interval and Fixed Lag Smoothers for Improved...

引用

International Symposium on Signal Processing and Its Applications (ISSPA)

作者： G.A. Einicke L.B. White The Co-operative Research Centre Robust and Adaptive Systems Salisbury SA Australia Communications Division Defence Science and Technology Organisation Salisbury SA Australia The Department of Electrical and Electronic Engineering University of Adelaide Salisbury SA Australia

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Hybrid Algorithms For Maximum Likelihood And Maximum A Posterior Sequence Estimation

Hybrid Algorithms For Maximum Likelihood And Maximum A Poste...

引用

International Symposium on Signal Processing and Its Applications (ISSPA)

作者： R.E. Mahony G.D. Brushe J.B. Moore Co-operative Research Centre for Robust and Adaptive Systems c/-RSISE Australian National University Canberra ACT Australia Signal Analysis Discipline Communications Division ESRL DSTO Australia Salisbury SA Australia Department of Systems Engineering RSISE Australian National University Canberra ACT Australia

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Time discretization of continuous-time filters for hidden Markov model parameter estimation

Time discretization of continuous-time filters for hidden Ma...

引用

IEEE Conference on Decision and Control

作者： M.R. James V. Krishnamurthy F. Le Gland Department of Systems Engineering Research School of Physical Sciences Australian National University Canberra ACT Australia Cooperative Research Crntre for Robust and Adaptive Systems Department of System Engineering Australian National University Canberra ACT Australia ZInititut National de Recherche en Informatiquc et en Automstique-Sophia Antipolis La Valbonne France

The authors propose numerical techniques for parameter estimation of fast-sampled homogeneous Markov chains observed in white Gaussian noise. Continuous-time filters that estimate the quantities used in the expectation-maximization (EM) algorithm for maximum likelihood parameter estimation have been obtained by R.J. Elliott (1991, 1992). The numerical work is based on the robust discretization of these filters. The advantage of using filters in the EM algorithm is that they have negligible memory requirements, independent of the number of observations. In comparison, standard discrete-time EM algorithms (Baum-Welch re-estimation equations) are based on smoothers and require the use of the forward-backward algorithm, which is a fixed-interval algorithm and has memory requirements proportional to the number of observations. Although the computational complexity of the filters at each time instant is O(N/sup 4/) (for a N state Markov) compared to O(N/sup 2/) for the forward-backward scheme, the filters are suitable for parallel implementation. Simulations are presented to illustrate the satisfactory performance of the algorithms.< >

关键词： Filters Hidden Markov models Parameter estimation Gaussian noise Maximum likelihood estimation Noise robustness Equations Computational complexity

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