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Backstepping Design with Nonsmooth Nonlinearities *

IFAC Proceedings Volumes 1995年第14期28卷 435-440页

作者： R.A. Freeman P.V. Kokotović Center for Control Engineering and Computation Dept. of Electrical and Computer Engineering University of California Santa Barbara CA 93106 Telephone: (805) 893-4691

We develop tools for backstepping with Lyapunov functions and control laws which are locally Lipschitz but not differentiable. We use Clarke’s generalized gradient and its associated calculus to show that the locally Lipschitz backstepping construction is essentially the same as the differentiable one. Our recursive method is constructive and yields an explicit expression for the control law.

关键词： Backstepping nonsmooth Lyapunov functions generalized gradient

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H/sub /spl infin// vibration control of active suspension for automotive application

H/sub /spl infin// vibration control of active suspension fo...

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SICE Annual Conference

作者： A. Kanbolat Y. Okuyama F. Takemori L. Gianone S. Horvat J. Bokor Department of Information and Knowledge Engineering Facult of Engineering Tottori University Japan Tottori Daigaku Tottori JP Dept. of Inf. & Knowledge Eng. Tottori Univ. Japan Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Department of Transpoi-talion Engineering Technical University of Budapest Hungary

This paper deals with simultaneous control of acceleration transmission, wheel load fluctuation, suspension deflection and sprung mass displacement. The control theory is based on the robust H/sub /spl infin// control theory with the consideration of the modeling errors lumped into an unstructured uncertainty acting on the unperturbed plant. The design method is new and powerful for electronic car suspension's control systems, as it presents a new approach to the designers for the computation of a controller maintaining robust stability while guaranteeing the performance in a wide frequency range, even in the case of the controller is applied to the actual plant. Additionally, the paper emphasizes that the assumptions in the modeling step may lead to unrealistic control designs and, as an example, the effect of the rigidity assumption on the behavior of the open loop system is discussed.

关键词： control systems control theory Open loop systems Displacement control Weight control Acceleration Wheels Fluctuations Robust control Power system modeling

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From physical modelling to compositional models of hybrid systems 3rd

From physical modelling to compositional models of hybrid sy...

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3rd International Symposium on Formal Techniques in Real Time and Fault Tolerance Organized Jointly with Working Group Provably Correct Systems, ProCoS 1994

作者： Nadjm-Tehrani, Simin Strömberg, Jan-Erik Dept. of Computer and Information Science Linköping University Sweden Div. of Automatic Control Dept. of Electrical Engineering Linköpmg Unversity LinköpingS-581 83 Sweden

ISBN: (纸本)9783540584681

By a hybrid system we mean a discrete controller in interaction with a physical environment. This paper discusses methodologies for incorporating physically grounded models in representations of hybrid systems. To this end, we study a driver support system, an example which includes unmodelled inputs. We consider models at different levels of abstraction. First, we show that discrete models of the environment can be obtained from the continuous models without losing relevant information. We do this using an analysis of the continuous state space. Dynamic Transition Systems (DTS) are used for the modular modelling at this level of abstraction. Next, we consider models using Hybrid Transition Systems (HTS). This can be seen as a modular version of timed transition systems ailowing both differential and algebraic equations in each mode. Finally, we comment on expressivity requirements on hybrid formalisms for modelling realistic physical systems. © Springer-Verlag Berlin Heidelberg 1994.

关键词： Hybrid systems

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A multi-temporal classification of multi-spectral images using a neural network 12

A multi-temporal classification of multi-spectral images usi...

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12th IAPR International Conference on Pattern Recognition - Conference B: Pattern Recognition and Neural Networks, ICPR 1994

作者： Kamata, Sei-Ichiro Niimi, Michiharu Kawaguchi, Eiji Dept. of Computer Engineering Kyushu Institute of Technology Kitakyushu804 Japan Computer Science and Control Engr. Course Nagasaki Institute of Applied Science Nagasaki851-01 Japan

ISBN: (纸本)0818662700

The classification of remotely sensed multispectral data using classical statistical methods has been worked on for several decades. Recently there have been many new developments in neural network (NN) research, and many new applications have been studied. It is well known that NN approaches have the ability to classify without assuming a distribution. We have proposed an NN model to combine the spectral and spacial information of LANDSAT TM images. In this paper, we apply the NN approach with a normalization method to classify multi-temporal LANDSAT TM images in order to investigate the robustness of our approach. From our experiments, we confirmed that our approach is more effective for the classification of multi-temporal data than the original NN approach and maximum likelihood approach. © 1994 IEEE.

关键词： Maximum likelihood

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Multiple neural networks using the reduced input dimension

Multiple neural networks using the reduced input dimension

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Proceedings of the 1994 IEEE International Conference on Acoustics, Speech and Signal Processing. Part 2 (of 6)

作者： Kim, Jongwan Ahn, Jesung Kim, Chong Sang Hwang, Heeyeung Cho, Seongwon Dept. of Computer Engineering Seoul National University Gwanak-Gu Seoul151-742 Korea Republic of Dept. of Electronics Engineering Hoseo University Chon-An Chungnam-Do330-180 Korea Republic of Dept. of Electrical and Control Engineering Hong Ik University Mapo-Gu Seoul121-791 Korea Republic of

An ensemble of neural networks with competitive learning and consensus schemes is proposed. Conventional learning methods utilize all the dimensions of the original input patterns. However, a particular attribute of the input patterns does not necessarily contribute to classification. In this paper, we use the reduced input dimension for learning a neural network. We have developed three consensus schemes so as to judge the classification using multiple neural networks. The experimental results with remote sensing data indicate the improved performance of the networks when applying the proposed method to the conventional competitive learning algorithms. © 1994 IEEE.

关键词： Learning systems

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Using laplace transforms to compute performance of mobile radio links 5

Using laplace transforms to compute performance of mobile ra...

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5th IEEE Intemational Symposium on Personal, Indoor and Mobile Radio Communications, PIMRC 1994

作者： Diesta, Rolando F. Linnartz, Jean-Paul M.G. Dept. of Electrical Engineering and Computer Sciences Cory Hall University of California BerkeleyCA94720 United States Telecommunications and Traffic Control Systems Delft University of Technology Et. 19.26 P.O.B.5031 Delft2600 GA Netherlands

ISBN: (纸本)9051991932

This paper reviews progress in developing a mathematical framework to evaluate the performance of mobile radio links. It takes into account multi-ray multipath fading with Rician or Nakagami probability density, lognormal shadowing and path loss of wanted and interfering transmitters, Additive White Gaussian, man-made burst noise and discontinuous transmission. The method presented here uses Lapiace Transforms of the pdf of the power of each interfering signal. This method is computationally efficient and allows inclusion of a wide range of link aspects. We also show that, in contrast to common belief, it is not realistic to approximate the Rician fading of the wanted signal by a Nakagami model. New results are given for micro-cells along highways. © IEEE.

关键词： Radio links

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A Quick Identification Method of Continuous-Time Nonlinear Systems and Its Application to Power Plant control

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IFAC Proceedings Volumes 1994年第8期27卷 283-288页

作者： K. Inoue K. Kumamaru Y. Nakahashi H. Nakamura M. Uchida Dept. of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Fukuoka Japan Bailey Japan Co. Ltd. Nirayama 410-21 Shizuoka Japan

In this paper, a quick identification method based on the short time record of input-output data is introduced for joint state and parameter estimation of nonlinear continuous-time systems. The method can then be used for on-line monitoring the system with unknown parameters. An application way of the method to main-steam temperature control of a thermal power plant are developed in the framework of model reference adaptive control system (MRACS). Simulation studies on a super-heater model have been carried out to demonstrate the effectiveness of the proposed method.

关键词： Nonlinear system parameter estimation simulator system identification model reference adaptive control thermal power plant steam temperature control

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Interpolation and numerical differentiation for observer design

Interpolation and numerical differentiation for observer des...

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American control Conference (ACC)

作者： S. Diop J.W. Grizzle P.E. Moraal A. Stefanopoulou The Control Systems Laboratory of the Dept. Elect. Eng. and Comp. Sci. U. of Michigan Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan AnnArbor MI

This paper explores interpolation and numerical differentiation as a basis for constructing a new approach to the design of nonlinear observers.

关键词： Interpolation control systems Observers Sampling methods Laboratories Equations Observability State estimation Sampled data systems Numerical analysis

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control of unknown systems using switching controllers: an experimental study

Control of unknown systems using switching controllers: an e...

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American control Conference (ACC)

作者： M. Chang E.J. Davison Systems Control Group Department of Electrical and Computer Engineering University of Toronto Toronto ONT Canada University of Toronto Toronto ON CA Dept. of Electr. Eng. & Comput. Eng. Toronto Univ. Ont. Canada

In this paper, the problem of implementing the Miller-Davison (1989) self-tuning integral robust servomechanism for the case of constant references and disturbances is considered and examined using an experimental multi-input multi-output apparatus; cases involving both known and unknown estimates of the steady state gain matrix T are considered. In order to improve the speed of response, proportional feedback has been added in both instances, and this has yielded a superior transient response.

关键词： control systems Open loop systems Pi control Proportional control Valves Robust control Transient response Actuators State estimation Steady-state

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Adaptive recovery of a Doppler shifted mobile communications signal using the RLS algorithm

Adaptive recovery of a Doppler shifted mobile communications...

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Asilomar Conference on Signals, Systems & computers

作者： P. Wei J.R. Zeidler W.H. Ku Dept. of Electr. & Comput. Eng. California Univ. San Diego La Jolla CA USA Department of Electrical and Computer Engineering University of California San Diego CA USA RDT& E Division Naval Command Control and Ocean Surveillance Center San Diego CA USA University of California San Diego La Jolla CA US

This paper studies the ability of the exponentially weighted RLS algorithm to track a Doppler shifted BPSK communications signal. This is modeled as a chirped AR1 process in Gaussian white noise. Expressions for the optimum Wiener filter, noise misadjustment, and lag misadjustment are shown. It is shown that as in the chirped sinusoid case the error can be written in terms of the forgetting rate /spl beta/=1-/spl lambda/ of the RLS algorithm; the noise misadjustment is of the order /spl beta/ and lag misadjustment of order 1//spl beta//sup 2/. However, as the bandwidth of the signal increases the relative lag misadjustment is shown to decrease.< >

关键词： Mobile communication Resonance light scattering Chirp Bandwidth Adaptive filters Algorithm design and analysis Performance analysis Frequency Signal analysis Binary phase shift keying

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