Kharitonov-like result and edge result are established for robust stability of a class of polynomial families with nonlinearly correlated perturbations - some composite functions of the numerator and denominator of in...
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Kharitonov-like result and edge result are established for robust stability of a class of polynomial families with nonlinearly correlated perturbations - some composite functions of the numerator and denominator of interval plants or polytopic plants. These results are useful in robust stability analysis of feedback control systems as well as uncertain polynomial matrices. Illustrative examples are presented. (C) 1997 Elsevier Science B.V.
Up to now the parameter space approach was either utilized for robustness analysis or for design of fixed gain controllers. This paper presents an extension of this method which allows the design of gain scheduling co...
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ISBN:
(纸本)9783952426906
Up to now the parameter space approach was either utilized for robustness analysis or for design of fixed gain controllers. This paper presents an extension of this method which allows the design of gain scheduling controllers which simultaneously stabilize a finite number of representatives of an uncertain plant. The approach is applied to an automotive control example.
作者：
Varga, A.DLR Oberpfaffenhofen
German Aerospace Research Establishment Institute of Robotics and System Dynamics WesslingD-82234 Germany
The discrete-time positive periodic Lyapunov equations have important applications in the balancing and potentially also in the model reduction of discrete-time periodic systems. Efficient numerically reliable algorit...
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ISBN:
(纸本)9783952426906
The discrete-time positive periodic Lyapunov equations have important applications in the balancing and potentially also in the model reduction of discrete-time periodic systems. Efficient numerically reliable algorithms based on periodic Schur decomposition are proposed for the solution of these equations. The proposed algorithms are extensions of the method of Hammarling for the case of positive semidefnite solution. Special methods were developed to solve efficiently small order periodic Lyapunov and Sylvester equations.
The non-redundant parametrization of the pole assignment problem for a n-th order system with m inputs allows to express the solution of the problem in term of n(m - 1) free parameters. These parameters can be used to...
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ISBN:
(纸本)9783952426906
The non-redundant parametrization of the pole assignment problem for a n-th order system with m inputs allows to express the solution of the problem in term of n(m - 1) free parameters. These parameters can be used to fulfill additional requirements on the closed-loop system as for instance minimum norm feedback gain matrix, well conditioned eigenvector set, maximum stability radius. One of reliable numerical methods for pole assignment is the so-called Schur method. An extension of this method is proposed which computes the solution of the pole assignment problem corresponding to a non-redundant parameter set. Several possibilities are further investigated to compute minimum norm feedback matrices. An improved approach to compute minimum Frobenius-norm feedback relying on a redundant parametrization is also discussed.
This paper proposes a novel solution to the problem of pose estimation of three-dimensional objects using feature maps. Our approach relies on quaternions as the mathematical representation of object orientation. We i...
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We present a general Riccati theory for systems in descriptor form considered under the weakest possible assumptions imposed on the coefficent matrices. A Riccati-like equation of descriptor form is introduced and its...
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ISBN:
(纸本)9783952426906
We present a general Riccati theory for systems in descriptor form considered under the weakest possible assumptions imposed on the coefficent matrices. A Riccati-like equation of descriptor form is introduced and its stabilizing solution is characterized in terms of the associated extended Hamiltonian pencil (EHP) whilst the computation of such a solution is reduced to solving a generalized eigenvalue problem for a singular EHP. The results exposed in the paper are generalizations to the game-theoretic (sign indefinite) and singular cases of the (positivity) Riccati theory developed by several authors in the framework of descriptor systems. Possible applications range from various nonstandard and J-spectral factorizations to H2 and H∞ control of descriptor systems.
Kharitonov-like result and edge result are established for the stability of a class of polynomial families with nonlinearly correlated perturbations. Illustrative examples are presented.
ISBN:
(纸本)9783952426906
Kharitonov-like result and edge result are established for the stability of a class of polynomial families with nonlinearly correlated perturbations. Illustrative examples are presented.
A novel concept of a smooth distance function for online collision detection and avoidance is presented. The concept is well suited for real-time obstacle avoidance path planning. Computation efficiency is achieved by...
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A novel concept of a smooth distance function for online collision detection and avoidance is presented. The concept is well suited for real-time obstacle avoidance path planning. Computation efficiency is achieved by three properties: 1) the 'collision' surfaces of obstacles need to be approximated by local grid point sets only; 2) a manipulator is approximated by a finite set of ellipsoids (or balls); and 3) its gradient exists and can be calculated efficiently due to the smoothness of the distance function. The concept exploits the recursive forward kinematic structure and is not based on a configuration space representation. Hence it is also applicable for kinematically redundant (multi-) manipulator systems.
We propose a numerically reliable state space algorithm for computing coprime factorizations of rational matrices with factors having poles in a given stability domain. The new algorithm is based on a recursive genera...
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ISBN:
(纸本)0780341872
We propose a numerically reliable state space algorithm for computing coprime factorizations of rational matrices with factors having poles in a given stability domain. The new algorithm is based on a recursive generalized Schur technique for poles dislocation by means of proportional-derivative state feedback. The proposed algorithm is generally applicable regardless the underlying descriptor state space representation is minimal or not, or is stabilizable/detectable or not.
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