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American control Conference (ACC)

作者： Liu Hsu R. Costa A.K. Imai P. Kokotovic Department of Electrical Engineering COPPE/UFRJ Rio de Janeiro Brazil Â‡ Center for Control Engineering and Computation University of California Santa Barbara CA

The design of model-reference adaptive control (MRAC) for MIMO linear systems has not yet been achieved, in spite of significant efforts, the completeness and simplicity of its SISO counterpart. One of the main obstacles has been the generalization of the SISO assumption that the sign of the high-frequency gain is known. Here we overcome this obstacle and present a MIMO analog to the well known Lyapunov-based MRAC SISO design. Our algorithm makes use of a new control parametrization derived from a factorization of the high-frequency gain matrix K/sub p/=SDU, where S is symmetric positive definite, D is diagonal, and U is unity upper triangular. Only the signs of the entries of D or, equivalently, the signs of the leading principal minors of K/sub p/, are assumed to be known.

关键词： Adaptive control MIMO Linear systems Frequency Transmission line matrix methods Symmetric matrices Visual servoing Upper bound control engineering control engineering computing

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Multivariable MRAC using high frequency gain matrix factorization

Multivariable MRAC using high frequency gain matrix factoriz...

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IEEE Conference on Decision and control

作者： A.K. Imai R.R. Costa Liu Hsu Gang Tao P. Kokotovic Department of Electrical Engineering COPPE/UFRJ Rio de Janeiro Brazil Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA Center of Control Engineering and Computation University of California Santa Barbara CA USA

A MIMO (multiple-input, multiple-output) analog to the well-known Lyapunov-based SISO (single-input, single-output) design of MRAC (model-reference adaptive control) has been recently introduced by L. Hsu et al. (2001). The new design utilizes a control parametrization derived from a factorization of the high-frequency gain matrix K/sub p/=SDU, where S is symmetric positive-definite, D is diagonal and U is unity upper-triangular. Only the signs of the entries of D or, equivalently, the signs of the leading principal minors of K/sub p/, were assumed to be known. However, the result was restricted to plants with (vector) relative degree one. In this paper, we extend the MRAC for more general plants with relative degree greater than one. We present three possible factorizations of K/sub p/ and the resulting update laws.

关键词： Frequency MIMO Symmetric matrices Transfer functions Artificial intelligence control engineering control engineering computing Analog computers Adaptive control Linear systems

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Global output tracking control of a class of Euler-Lagrange systems

Global output tracking control of a class of Euler-Lagrange ...

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IEEE Conference on Decision and control

作者： O.M. Aamo M. Arcak T.I. Fossen P.V. Kokotovic Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Center for Control Engineering and Computation University of California Santa Barbara CA USA

ISBN: (纸本)0780366387

We address the problem of output feedback tracking control of a class of Euler-Lagrange systems subject to nonlinear dissipative loads. By imposing a monotone damping condition on the nonlinearities of the unmeasured states, the common restriction that the nonlinearities be globally Lipschitz is removed. The proposed observer-controller scheme renders the origin of the error dynamics uniformly globally asymptotically stable.

关键词： control systems Damping Output feedback Nonlinear control systems System testing Nonlinear systems Symmetric matrices Marine vehicles Linear systems Stability

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Performance Enhancement and Robustness for Linear Systems With Saturating Actuators

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IFAC Proceedings Volumes 2000年第14期33卷 427-432页

作者： R. Reginatto A.R. Teel E.R. De Pieri Department of Automation and Systems Universidade Federal de Santa Catarina 88040-900 Florianópolis SC Brazil Center for Control Engineering and Computation University of California at Santa Barbara Santa Barbara CA 93106

L 2 stability for null-controllable linear systems with bounded controls is achieved by scheduling a parameterized state feedback control law constructed from a parameterized family of solutions of an H ∞ -type Riccati equation. The scheduling is based on the magnitude of a virtual control signal and explicitly allows saturation and non-monotonicity (in time) of the scheduling parameter. These properties enhance convergence of the state by allowing the full utilization of the available control authority. Robustness to both a class of memoryless input uncertainties and a class of input-additive disturbances is also guaranteed. Simulation results for a case study illustrate the main features of the proposed control scheme.

关键词： Saturation control scheduling algorithms riccati equations robust stability

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Character-based mobile robot navigation

Character-based mobile robot navigation

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Yongmei Liu T. Tanaka T. Yamamura N. Ohnishi Bio-Mimetic Control Research Center RIKEN Nagoya Japan Faculty of Information Science & Technology Aichi Prefectural University Aichi Japan Computation Center University of Nagoya Nagoya Japan Department of Information Engineering University of Nagoya Nagoya Japan

We describe a method for navigating a mobile robot in the environment using signboards in scenes as landmarks. This method will enable us to realize human-like navigation and map-generation, and also can benefit human-robot communication. We choose signboards on walls and doors as landmarks. An environment map that contains the approximate position of each signboard in the environment is generated by the robot when the robot explores the environment the first time, and it will be used for re-localizing and navigating the robot afterward. First, characters in scene images are detected by using several heuristics of characters and character lines. Then, we calculate the relative orientation of the camera and a detected signboard from a single view using two methods based on the geometry of perspective projection. Finally, we reconstruct a distorted signboard image using two corresponding methods, and this makes the recognition of characters under a wider range of viewing condition much easier.

关键词： Mobile robots Navigation Layout Mobile communication Robot vision systems Cameras computational geometry Image reconstruction Character recognition Image recognition

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On Hopf bifurcations in indirect field oriented control of induction motors: designing a robust PI controller

On Hopf bifurcations in indirect field oriented control of i...

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IEEE Conference on Decision and control

作者： A.S. Bazanella R. Reginatto R. Valiati Department of Electrical Engineering Universidade Federal do Rio Grande do Sul Porto Alegre Rio Grande do Sul Brazil Center for Control Engineering and Computation University of California슠Santa Barbara Santa Barbara CA USA

In this paper we analyze the occurrence of Hopf bifurcations in indirect field-oriented control of induction motors and derive guidelines for setting the PI speed loop controller in order to keep the bifurcations far ... 详细信息

ISBN: (纸本)0780352513

关键词： Bifurcation Induction motors Robust control Velocity control Torque control Rotors Guidelines Equations Robust stability Error correction

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Nonlinear control of Ships: A Locally Optimal Design

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IFAC Proceedings Volumes 1998年第17期31卷 705-710页

作者： Jann Peter Strand Kenan Ezal Thor I. Fossen Petar V. Kokotović Department of Engineering Cybernetics Norwegian University of Science and Technology N-7034 Trondheim Norway. Center for Control Engineering and Computation University of California Santa Barbara CA 93106 USA.

A stabilizing controller for moored and free-floating ships is constructed by backstepping to meet two design objectives: one local and the other global. The local objective is to design an H∞-optimal controller for the linearized plant. The global objective is inverse optimality for the nonlinear system. In the absence of disturbances, the system is rendered globally asymptotically stable and locally exponentially stable. Integral action is obtained by constant parameter adaptation.

关键词： Optimal control nonlinear control marine systems

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Exponential Tracking control of a Mobile Car Using a Cascaded Approach

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IFAC Proceedings Volumes 1998年第27期31卷 201-206页

作者： Elena Panteley Erjen Lefeber Antonio Loria Henk Nijmeijer Institute of Problems of Mech. Engg. Academy of Sciences of Russia St. Petersbourg RUSSIA Faculty of Mathematical Sciences Department of Systems Signals and Control University of Twente P.O. Box 217 7500 AE Enschede The Netherlands Center for Control Engineering and Computation (CCEC) Department of Electrical and Computer Engineering University of California Santa Barbera CA 93106-9560 USA Faculty of Mechanical Engineering Eindhoven University of Technology PO Box 513 5600 MB Eindhoven The Netherlands

In this paper we address the problem of designing simple global tracking controllers for a kinematic model of a mobile robot and a simple dynamic model of a mobile robot. For this we use a cascaded systems approach, r... 详细信息

关键词： mobile robot trajectory tracking persistency of excitation global K -exponential stabilization

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Fundamental design tradeoffs in filtering, prediction, and smoothing

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IEEE TRANSACTIONS ON AUTOMATIC control 1997年第9期42卷 1240-1251页

作者： Goodwin, GC Seron, MM Centre for Integrated Dynamics and Control Department of Electrical and Computer Engineering University of Newcastle NSW Australia Center for Control Engineering and Computation University of California Santa Barbara CA USA

This paper examines fundamental design tradeoffs that apply to all linear filtering, prediction, and smoothing problems, We introduce sensitivity functions that quantify filter performance, and we show that their frequency response satisfies constraints imposed by unstable poles and nonminimum phase zeros of the system, The constraints allow one to determine, a priori, whether or not a desired filter performance is attainable and how different arrangements of the measurement system influence the achievable performance.

关键词： Bode limits linear filtering performance limits

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Tracking controllers for systems linear in the unmeasured states

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AUTOMATICA 1996年第5期32卷 735-746页

作者： Freeman, RA Kokotovic, PV [a] Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106 U.S.A.

We introduce a class of extended strict feedback nonlinear systems in which unmeasured states enter the system equations in a linear (affine) fashion. For such systems, we present a procedure for constructing dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness. The controller dynamic order is equal to the number of unmeasured states. To illustrate our design procedure, we construct such a tracking controller for a nonlinear electromechanical rotor/platform system. Copyright (C) 1996 Elsevier Science Ltd.

关键词： nonlinear systems global stability tracking disturbance rejection dynamic output feedback Lyapunov methods

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