A class of optimal state and output feedback control laws for discrete-time time-invariant linear systems which minimizes a class of discrete-time time-multiplied performance indexes is presented. A necessary conditio...
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A class of optimal state and output feedback control laws for discrete-time time-invariant linear systems which minimizes a class of discrete-time time-multiplied performance indexes is presented. A necessary condition, an existence condition, and a sufficient condition for the control laws are derived. A simple example is given to illustrate the effectiveness of the proposed control laws.
A distributed testbed designed to support the development of a multi-sensory (vision and tactile) system for investigations in "active perception" of three dimensional objects is presented. Active perception...
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The sensitivity of a class of N-th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variat...
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The sensitivity of a class of N-th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variations in system parameters and design variables. The derivation of sensitivity matrices can be readily obtained by considering the Lagrangian of the performance index. It is shown that while faster system response performance can be obtained by designing with higher order time-multiplying factor in the performance index, the design also increases the optimum cost of control and absolute cost sensitivity, as can be expected.
This paper extends the familiar 1-D concepts of observer designs to the design of observers for 2-D systems described by Roesser's model. Both full-order and reduced-order observers are considered. Extensions of 1...
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This paper extends the familiar 1-D concepts of observer designs to the design of observers for 2-D systems described by Roesser's model. Both full-order and reduced-order observers are considered. Extensions of 1-D concepts to 2-D is non-trivial in view of the requirement that state transformations for 2-D systems have to be block diagonal in order to preserve their input-output properties. Another issue addressed in this paper is the required asymptotic stability property of the 2-D observers. To maintain tractability in asymptotic stability analysis, we consider the class of 2-D observers with separable characteristic polynomials. Illustrative examples are provided.
A compact Lagrangian formulation has been developed and discussed to deal with the highly coupled non-linear dynamic equations of robotic manipulators. It bridges the dynamic and kinematic problems of robotics closely...
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A compact Lagrangian formulation has been developed and discussed to deal with the highly coupled non-linear dynamic equations of robotic manipulators. It bridges the dynamic and kinematic problems of robotics closely together by means of Jacobian and subjacobian matrices. Its numeric computational complexity has been reduced to O(n2) time. When n<6, the number of operations required for computing all joint torques is almost close to that of Newton-Euler approach. Due to its significant insight of the robot behavior, it is concluded that the compact Lagrangian formulation offers a convenient approach to building up a feasible real-time adaptive control strategy for computer-based manipulators. Finally, it has been found that all information required for solving the dynamic equation and the adaptive control problems is concentrated in Hessian matrix of the kinetic energy for a given robotic manipulator.
A distributed testbed designed to support the development of a multi-sensory (vision and tactile) system for investigations in "active perception" of three dimensional objects is presented. Active perception...
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A distributed testbed designed to support the development of a multi-sensory (vision and tactile) system for investigations in "active perception" of three dimensional objects is presented. Active perception means being able to not only see and feel objects but also manipulate and probe them. The nucleus of the testbed is a network of heterogeneous computers designed to support low-level real-time control processes as well as high-level knowledge-based systems. The programming environment of the testbed facilitates the construction and execution of a distributed multi-sensory system from sequential programs written in different programming languages.
Air cushion vehicles (ACVs) have operated successfully on commercial routes for about twenty years. The routes are normally quite short; the craft are equipped with radar and radio navigation aids and maintain continu...
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Air cushion vehicles (ACVs) have operated successfully on commercial routes for about twenty years. The routes are normally quite short; the craft are equipped with radar and radio navigation aids and maintain continuous contact with their terminals. Navigation of these craft, therefore, does not present any unusual difficulty. The introduction of air cushion vehicles into military service, however, can present a very different picture, especially when external navigation aids are not available and the craft must navigate by dead reckoning. This paper considers the problems involved when navigating a high-speed air cushion vehicle by dead reckoning in conditions of poor visibility. A method is presented to assess the ACV's navigational capability under these circumstances. A figure of merit is used to determine the sensitivity of factors which affect navigation such as the range of visibility, point-to-point distance, speed, turning radius and accuracy of onboard equipment. The method provides simplistic but adequate answers and can be used effectively to compare the-capability and cost of alternative navigation concepts.
The design and implementation of a controller for a six-degree-off-freedom robot manipulator is presented. Two IBM Personal computers were used to implement the preliminary scheme reported here where execution of prog...
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The design and implementation of a controller for a six-degree-off-freedom robot manipulator is presented. Two IBM Personal computers were used to implement the preliminary scheme reported here where execution of programmed motion can be carried out in either point-to-point or straight line mode.
The problem of vibration isolation is investigated from the standpoint of modern control and optimization theory. The proposed suspension design was verified experimentally by means of a micromputerized suspension mod...
The problem of vibration isolation is investigated from the standpoint of modern control and optimization theory. The proposed suspension design was verified experimentally by means of a micromputerized suspension model. The experimental results are very encouraging and indicate promising potential application of the proposed scheme to real-world systems. This paper describes the modeling and formulation of an optimal suspension design and the implementation aspects of the proposed microcomputerized optimal suspension scheme.
作者：
PAIGE, KKCONVERSE, RAUSNLCdr. Kathleen K. Paige
USN:graduated with a BA from the University of New Hampshire in 1970. She received her commission from Officer Candidate School in April 1971 and performed her first tour of duty with VFP-63 NAS Miramar. LCdr. Paige then received her MS from the Naval Post Graduate School in June 1976 and returned to San Diego to serve as Head Support Software Division at the Fleet Combat Direction System Support Activity. In May 1981 she reported to NA VSEA (PMS-408) where she served initially as Chairman of the NAVMAT Software Engineering Environment Working Group. She has been assigned as Deputy AN/UYK-43 Acquisition Manager since October 1981. LCdr. Paige was designated a fully qualified Engineering Duty Officer in December 1983. Robert A. Converse:is presently the Acquisition Manager for the Ada Language System/Navy (ALS/N) for the Naval Sea Systems Command Tactical Embedded Computer Resources Project. As such
he is responsible for the definition and development of the ALS/N to be provided as a Navy standard computer programming system for Navy mission critical applications. Mr. Converse received a Bachelor of Science degree in Physics from Wheaton College Wheaton II. He spent fourteen years with the Naval Underwater Systems Center Newport Rhode Island during which time he designed and developed the Fortran compiler for the Navy Standard AN/UYK-7 computer. Also during that period he received a Master of Science degree in Computer Science from the University of Rhode Island. His thesis for that degree was entitled “Optimization Techniques for the NUSC Fortran Cross-Compiler”. Mr. Converse started his involvement with the Ada program in 1975 with the initial “Strawman” requirements review. Subsequently he was named as the Navy Ada Distinguished Reviewer and was intimately involved in the selection and refinement of the Ada language as it evolved to become ANSI/MIL-STD-1815A.
The U.S. Navy introduced the use of digital computers in mission critical applications over a quarter of a century ago. Today, virtually every system in the current and planned Navy inventory makes extensive use of co...
The U.S. Navy introduced the use of digital computers in mission critical applications over a quarter of a century ago. Today, virtually every system in the current and planned Navy inventory makes extensive use of computer technology. computers embedded in mission critical Navy systems are integral to our strategic and tactical defense capabilities. Thus, the military power of the U.S. Navy is inextricably tied to the use of programmable digital computers. The computerprogram is the essential element that embodies the system “intelligence”. In addition, it provides the flexibility to respond to changing threats and requirements. However, this very flexibility and capability poses a host of difficulties hindering full realization of the advantages. This paper describes the lessons learned about computerprogram development over the past twenty five years and discusses a software engineering process that addresses these lessons. It then describes how Ada and its related Ada programming Support and Run-Time Environments foster this software engineering process to improve computerprogram productivity and achieve greater system reliability and adaptibility. Finally, the paper discusses how the use of Ada and its environments can enhance the interoperability and transferability of computerprograms among Navy projects and significantly reduce overall life cycle costs for Navy mission critical computerprograms.
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