检索结果-内蒙古大学图书馆

IEEE Conference on Decision and control

作者： R. Goebel Center for Control Engineering & Computation Department of Electrical & Computer Engineering University of California Santa Barbara CA USA

A new approach to two-player zero-sum differential games with convex-concave cost function is presented. It employs the tools of convex and variational analysis. A necessary and sufficient condition on controls to be an open-loop saddle point of the game is given. Explicit formulas for saddle controls are derived in terms of the subdifferential of the function conjugate to the cost. Existence of saddle controls is concluded under very general assumptions, not requiring the compactness of control sets. A Hamiltonian inclusion, new to the field of differential games, is shown to describe equilibrium trajectories of the game.

关键词： Cost function Open loop systems Sufficient conditions Differential equations control engineering control engineering computing Integral equations

来源：评论

学校读者我要写书评

暂无评论

OUTPUT MANEUVERING FOR A CLASS OF NONLINEAR SYSTEMS

引用

IFAC Proceedings Volumes 2002年第1期35卷 501-506页

作者： Roger Skjetne Thor I. Fossen Petar Kokotović Department of Engineering Cybernetics Norwegian University of Science and Technology N-7491 Trondheim Norway Center for Control Engineering and Computation University of California Santa Barbara CA 93106 USA

The output maneuvering problem involves two tasks. The first, which is the geometric task, is to force the output to converge to a desired path parametrized by a continuous scalar variable θ. The second task is to satisfy a desired speed assignment along the path. The main concern is to satisfy the geometric task. However, the speed assignment will ensure that the output follows the path with sufficient speed. A recursive control design technique is developed for nonlinear plants in vectorial strict feedback form of any relative degree. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the speed assignment. An extra degree of freedom is provided for an operator to specify the speed θ. A computer simulation with a marine vessel is performed to illustrate the design.

关键词： Output maneuvering Path following Backstepping Nonlinear control Marine vessels

来源：评论

学校读者我要写书评

暂无评论

Nonlinear maneuvering with gradient optimization

Nonlinear maneuvering with gradient optimization

引用

IEEE Conference on Decision and control

作者： R. Skjetne A.R. Teel 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 USA

The maneuvering problem involves two tasks. The first one, called the geometric task, is to force the system states to converge to a desired parametrized path. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. The desired geometric path /spl xi/ is viewed as a target set /spl Xi/ which is parametrized by a scalar variable /spl theta/. The proposed dynamic controller consists of a stabilization algorithm that drives the state x(t) to the point /spl xi/(/spl theta/(t)), and a smooth dynamic optimization algorithm that selects the point /spl xi/(/spl theta/) in the set /spl Xi/ that minimizes the weighted distance between x and /spl xi/. Choosing a gain /spl mu/ large in the optimization algorithm, induces a two-time scale behavior or a closed-loop plant. In the fast time-scale /spl theta/(t) rapidly converges to the minimizer, and in the slow time-scale x(t) converges to /spl Xi/. Two motivational examples illustrate the design and the achieved performance of the closed-loop.

关键词： Vehicle dynamics Lyapunov method Trajectory Backstepping Nonlinear dynamical systems Heuristic algorithms Performance gain Force control Robot control Vehicles

来源：评论

学校读者我要写书评

暂无评论

An extension of Matrosov's theorem with application to stabilization of nonholonomic control systems

An extension of Matrosov's theorem with application to stabi...

引用

IEEE Conference on Decision and control

作者： A. Loria E. Panteley D. Popovic A.R. Teel Laboratoire de Signaux et Systèmes CNRS UMR 8506 Gif-sur-Yvette France Acad. of Sciences of Russia IPME Saint Petersburg Russia Center for Control Engineering and Computation (CCEC) Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We present a result on uniform attractivity of the origin for nonlinear time-varying systems. Our theorem generalizes Matrosov's theorem which extends, in a certain manner, Krasovskii-LaSalle's invariance principle to the case of general nonlinear time-varying systems. We show the utility of our theorem by analyzing uniform asymptotic stability of the origin for nonholonomic: systems in closed loop with particular smooth time-varying feedbacks previously proposed in the literature.

关键词： control systems Asymptotic stability Nonlinear control systems Stability analysis Time varying systems Algorithm design and analysis Feedback loop Lyapunov method Collaborative work control engineering

来源：评论

学校读者我要写书评

暂无评论

Lyapunov-based adaptive control of MIMO systems

Lyapunov-based adaptive control of MIMO systems

引用

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

来源：评论

学校读者我要写书评

暂无评论

Multivariable MRAC using high frequency gain matrix factorization

Multivariable MRAC using high frequency gain matrix factoriz...

引用

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

来源：评论

学校读者我要写书评

暂无评论

Robust output-feedback design using a new class of nonlinear observers

Robust output-feedback design using a new class of nonlinear...

引用

IEEE Conference on Decision and control

作者： M. Arcak P. Kokotovic Center for Control Engineering and Computation University of California Santa Barbara CA USA

ISBN: (纸本)0780366387

Analyzes the robustness of a nonlinear observer design introduced previously by the authors. For uncertainties in the nonlinearities, bounds are given within which the observer error gradually increases with an increase in the uncertainty. For dynamic modeling errors, a robust output-feedback design is developed using ISS small-gain tools. A jet engine compressor example is used to illustrate the design.

关键词： Robustness Uncertainty Jet engines Time varying systems Vectors control engineering control engineering computing Robust control Ear Feedback

来源：评论

学校读者我要写书评

暂无评论

Robust nested saturation redesign for systems with input unmodeled dynamics

Robust nested saturation redesign for systems with input unm...

引用

American control Conference (ACC)

作者： M. Arcak A. Teel P. Kokotovic Center for Control Engineering and Computation University of California Santa Barbara CA USA

We consider nonlinear systems in feedforward form and redesign nested saturation control laws to guarantee global asymptotic stability in the presence of unmodeled dynamics appearing at the system input. Unlike most previous results, this redesign is applicable to a large class of unmodeled dynamics, including actuators that change the relative degree of the system.

关键词： Robustness Nonlinear dynamical systems control systems Robust control Nonlinear systems Nonlinear control systems Actuators Robust stability Positron emission tomography control engineering

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Nonlinear control experiments on an axial flow compressor

Nonlinear control experiments on an axial flow compressor

引用

IEEE Conference on Decision and control

作者： D. Fontaine S. Liao J. Paduano P. Kokotovic Center for Control Engineering and Computation University of California Santa Barbara Santa Barbara USA Gas Turbine Laboratory Massachusetts Institute of Technology USA

ISBN: (纸本)0780366387

A nonlinear control law is designed for a low order model of an axial flow compressor with a ring of bleed valves after the last compressor stage. The controller is implemented on a low speed, three stage experimental compressor. The region of attraction guaranteed by the control law is experimentally determined and is larger than that of the uncontrolled compressor.

关键词： Valves Steady-state Nonlinear distortion Acceleration Surges Turbines Positron emission tomography Blades Testing control engineering

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：