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Performance Enhancement and Robustness for Linear Systems With Saturating Actuators

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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Anti-windup for exponentially unstable linear systems with inputs limited in magnitude and rate

Anti-windup for exponentially unstable linear systems with i...

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American control Conference (ACC)

作者： C. Barbu R. Reginatto A.R. Teel L. Zaccarian Center for Control Engineering and Computation University of California슠Santa Barbara Santa Barbara CA USA University of California Santa Barbara Santa Barbara CA US

A new anti-windup algorithm guarantees that: 1) if the control does not reach actuator limits, the performance is given by a nominal (predesigned) controller; and 2) when the actuator limits are reached, the algorithm... 详细信息

关键词： Linear systems control systems Algorithm design and analysis Hydraulic actuators Windup Steady-state control engineering control engineering computing Stability Degradation

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Path Following for Marine Vehicles in the Presence of Unknown Currents 1

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IFAC Proceedings Volumes 2000年第27期33卷 507-512页

作者： P. Encarnação A. Pascoal M. Arcak Institute for Systems and Robotics and Dept. Electrical Eng. Instituto Superior Técnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 USA

A new methodology is proposed for the design of path following systems for autonomous marine vehicles in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following Systems Nonlinear control Backstepping Techniques

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Path Following for Autonomous Marine Craft ⋆

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IFAC Proceedings Volumes 2000年第21期33卷 117-122页

A new methodology is proposed for the design of path following systems for autonomous marine craft in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following Systems Nonlinear control Backstepping Techniques

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Further results on robust control of nonlinear systems with input unmodeled dynamics

Further results on robust control of nonlinear systems with ...

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American control Conference (ACC)

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

We show that the robustification method of Krstic et al. (1996) for nonlinear systems with linear input unmodeled dynamics guarantees global boundedness of closed loop solutions when the unmodeled dynamics subsystem is relative degree zero and minimum phase. We also prove that the solutions can be made to converge to an arbitrarily small ball around the origin.

关键词： Robust control Nonlinear systems Nonlinear dynamical systems Uncertainty Transfer functions control engineering control engineering computing Military computing Eigenvalues and eigenfunctions Feedback

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Anti-windup design for manual flight control

Anti-windup design for manual flight control

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American control Conference (ACC)

作者： C. Barbu R. Reginatto A.R. Teel L. Zaccarian Center for Control Engineering and Computation University of California Santa Barbara CA USA

We address the windup problem arising from actuator rate and magnitude limits in the context of manual flight control for an open loop unstable aircraft. We present a new anti-windup solution tailored for this problem... 详细信息

关键词： Military aircraft Elevators Aerospace control Prototypes Steady-state control engineering control engineering computing Windup Aircraft propulsion Airplanes

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Nonlinear observers: a circle criterion design

Nonlinear observers: a circle criterion design

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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

We design observers for a class of systems with monotone sector nonlinearities. The resulting nonlinear estimation error system is represented as the feedback interconnection of a linear system and a time-varying multivariable sector nonlinearity. Using LMI software, an observer gain matrix is computed to satisfy the circle criterion and, hence, to drive the estimation error to zero. The new observer is incorporated in output feedback control, as illustrated by an example.

关键词： Estimation error Output feedback Observers Linear systems Time varying systems control systems Linear matrix inequalities Positron emission tomography control engineering control engineering computing

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Disturbance attenuating output-feedback control of nonlinear systems with local optimality

Disturbance attenuating output-feedback control of nonlinear...

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American control Conference (ACC)

作者： K. Ezal P.V. Kokotovic A.R. Teel T. Basar Toyon Research Corporation Goleta CA USA Center for Control Engineering and Computation University of California Santa Barbara CA USA Coordinated Science Laboratory University of Illinois Urbana IL USA

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.

关键词： Optimal control Nonlinear control systems control systems Nonlinear systems Output feedback State estimation Symmetric matrices control engineering State feedback Aerodynamics

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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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