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Eigenstructure assignment in descriptor systems via output feedback: a new complete parametric approach

INTERNATIONAL JOURNAL OF control 1999年第4期72卷 345-364页

作者： Duan, GR Control Systems Theory Department of Control Engineering Harbin Institute of Technology Harbin China Department of Electronic and Electrical Engineering University of Sheffield Sheffield S1 3JD Mappin Street United Kingdom

A complete parametric approach is proposed for eigenstructure assignment in descriptor linear systems via output feedback, which assigns arbitrary rank(E) finite relative eigenvalues to the closed-loop system and guarantees the closed-loop regularity. General parametric expressions for the normalized left and right closed-loop eigenvector matrices are obtained on the basis of a recent parametric solution for the generalized Sylvester matrix equation. These expressions contain two groups of parameter vectors which represent the degree of freedom existing in the solution of the closed-loop eigenvectors. A pair of general complete expressions for the output feedback gain is also presented, containing the part of parameter vectors existing in the closed-loop eigenvectors and another extra two parameter matrices. The sub-conventional case is especially treated, in which there exists a one-to-one mapping relation between the closed-loop eigenvector matrices and the output feedback gain. This approach does not impost any restriction on the closed-loop eigenvalues, but generalizes and improves some of the existing results. An illustrative example shows the effect of the proposed approach.

关键词： Linear control systems

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Sliding mode control of a car-like mobile robot using single-track dynamic model

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IFAC Proceedings Volumes 1999年第2期32卷 605-610页

作者： A. Stotsky X. Hu M. Egerstedt Department of Signals and Systems Control Engineering Laboratory Chalmers University of Technology SE - 412 96 Gothenburg Sweden Optimization and Systems Theory Royal Institute of Technology SE - 100 44 Stockholm Sweden

An easy-to-implement global trajectory tracking algorithm in the class of variable structure systems is designed and analyzed within the single-track dynamical model framework. The algorithm uses measurements of the p... 详细信息

关键词： Car Like Mobile Robots Sliding Modes Trajectory Tracking

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Robust stabilization of descriptor linear systems via proportional-plus-derivative state feedback

Robust stabilization of descriptor linear systems via propor...

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American control Conference (ACC)

作者： G.R. Duan G.W. Irwin G.P. Liu School of Mechanical and Manufacturing Engineering Queen''s University Belfast Belfast UK Research Office for Control Systems Theory Department of Control Engineering Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Queen''s University Belfast Belfast UK Mechanical Engineering Center GEC Alsthom Leicester UK

A sufficient condition, in terms of quadratic stability of matrices, for the class of regular descriptor linear systems which possess no infinite relative eigenvalues is presented. Utilizing this result, the problem of stabilization of descriptor linear system via proportional-plus-derivative (PD) state feedback control is converted into two related quadratically stabilization problems, which can be easily solved using linear matrix inequality (LMI) techniques. Based on the same idea, robust stabilization via PD state feedback for uncertain descriptor linear systems, with coefficient matrices belonging to some compact sets in proper matrix spaces, has also been dealt with.

关键词： Robustness Linear systems Linear matrix inequalities Matrix converters State feedback Sufficient conditions Stability Eigenvalues and eigenfunctions PD control Linear feedback control systems

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Experimental Validation of a Self-Adjusting Active Compliance controller for Multiple Robots Handling an Object

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IFAC Proceedings Volumes 1998年第33期31卷 59-64页

作者： Christian von Albrichsfeld Henning Tolle Darmstadt University of Technology Institute of Control Engineering Department of Control Systems Theory & Robotics Landgraf-Georg-Strasse 4 D-64283 Darmstadt

This paper presents the experimental validation of a self-adjusting active compliance controller for n robots handling a concerning its compliant behaviour partly unknown flexible object. The control strategy is based on the decomposition of the 6n-dimensional position/force space and includes a feedforward and feedback level. For adjusting the controller to the in general unknown flexible behaviour, which is the main problem of the controller design. a quasi-static model of the system is derived for different contact cases of the object and a procedure is presented, which by use of this model is capable of determining the compliance of the considered system and therefore of adjusting the controller. Experiments with two pumatype robots show the applicability of the self-adjusting control strategy.

关键词： self-tuning control force-position control admittance control compliance control decoupling problems multi-arm robots intelligent control robot control

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Towards Constructing and Using Selforganizing Visual Environment Representations for Mobile Robots

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IFAC Proceedings Volumes 1998年第3期31卷 387-392页

作者： Georg von Wichert Henning Tolle Control Systems Theory & Robotics Laboratory Institute of Control Engineering Darmstadt University of Technology Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

Due to the upcoming applications in the field of service robotics mobile robots are currently receiving increasing attention in industry and the scientific community. Applications in the area of service robotics demand a high degree of system autonomy, which robots without learning capabilities will not be able to meet. Learning is required in the context of action models and appropriate perception procedures. Both are extremely difficult to acquire especially with high bandwidth sensors (e.g. video cameras) which are needed in the envisioned unstructured worlds. Selflocalization is a basic requirement for mobile robots. This paper therefore proposes a new methodology for image based selflocalization using a selforganized visual representation of the environment. It allows for the seamless integration of active and passive localization.

关键词： Mobile robots Navigation Vision Scene analysis Selforganizing systems

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Ultra-Precision Attitude control of the Low-Orbital Remote Sensing Spacecraft

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IFAC Proceedings Volumes 1998年第21期31卷 39-44页

作者： Ye.I. Somov G.P. Anshakov Yu.G. Antonov A.V. Sorokin N.I. Bashkeyev S.A. Butyrin V.M. Matrosov V.P. Makarov O.A. Kondrat'yev The Systems Dynamics and Control Theory Institute the Russian Academy of Sciences (RAS) 134 Lermontov Str. Irkutsk 664033 Russia Fax: +7 3952 511616 The Stability and Nonlinear Dynamics Research Center the Engineering Sciences Institute of the RAS 5 Dm. Ul'yanov Str. Moscow 117333 Russia Central Specialized Design Bureau (TsSKB) the RSA 18 Pskovskaya Str. Samara 443009 Russia Fax:+7 8462 272070 Research Institute of the Command Devices (NII KP) 16 Tramway Pr. St.-Petersburg 198216 Russia

Nonlinear methods of a high-accuracy spatial attitude control for the large-scale remote sensing flexible spacecrafts with the effective damping of their flexi ble construction oscillations at the expense of the use of gyrodines - single gimbal control moment gyroscopes (CMGs), also with electromagnetic suspension of the gyrodine's rotors, are developed.

关键词： spacecraft attitude control precision fault-tolerance remote sensing

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An Interactive Computer Package for Enhancing the Teaching and Learning of Adaptive control engineering Techniques

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IFAC Proceedings Volumes 1997年第12期30卷 139-143页

作者： K.J. Burnham A. Dunoyer L. Koszalka I. Pozniak Control Theory & Applications Centre Coventry University CV1 5FB UK Institute of Control & Systems Engineering Technical University of Wroclaw Poland

The paper reports on the on-going development of an interactive computer package for assisrmg in the introduction and in the reinforcement of concepts of discrete time adaptive/self-tuning control to undergraduates in the area of electronics, computer systems and control engineering. The project is being carried out jointly by staff of the control theory and Applications Centre, Coventry University, UK, and the institute of control and systems engineering, Technical University of Wroclaw, Poland.

关键词： Adaptive control control algorithms estimation algorithms simulation teaching

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Ship habitability - Preparing for the 21st century

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NAVAL ENGINEERS JOURNAL 1997年第6期109卷 21-27页

作者： Meere, EP Grieco, L Edward P. Meere:works in the Arrangements Division of the NavSea Systems Command (SEA 03H1) and has been the Navy Habitability Program Manager for the past three years. He received a Bachelor of Science in Engineering Science from Illinois Institute of Technology in 1966. He received a Masters of Business Administration from the American University in 1977. His experience to date includes: Mathematics teacher at Prince Georges Community College for 7 years 10 years as Branch Head for Carrier and Amphibious Arrangements Project Engineer for Underway Replenishment Equipment responsible for the concept and development of the One Man Control Station. Louis R. Grieco:is a Supervisory Mechanical Engineer in the Habitability Branch of the Hull and Deck Machinery Department at the Naval Surface Warfare Center Carderock Division Philadelphia where he has been employed since 1971. He received a Bachelor of Science in Mechanical Engineering degree from Drexel University in 1979. His experience to date includes trade design and combat systems assignments at Philadelphia Naval Shipyard from 1960 to 1971 In Service Engineering Section and Branch Head for cargo/ weapons elevators conveyors torpedo handling systems habitability equipment and underway replenishment equipment and Life Cycle Manager for habitability systems. He also serves as a member of the Industrial Advisory Board at Temple University Philadelphia PA.

This paper discusses the problems identified in a FY 1995 fleet habitability survey. The survey questioned the fleet on the quality of shipboard living and working conditions and identified shortfalls in berthing, sanitary spaces, and food service systems that influence crew morale, safety, and ultimately mission effectiveness. Existing habitability programs, new initiatives and responses to the survey problems, plus a few quality of life ideas for the 21st century, are outlined.

关键词： Warships

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Developing a prototype concurrent design tool for composite topside structures

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 279-290页

作者： Dirlik, S Hambric, S Azarm, S Marquardt, M Hellman, A Bartlett, S Castelli, V Steve Dirlik:began his career at the Naval Surface Warfare Center Carderock Division in 1981 as an aerospace engineer co-op student. He completed his bachelor of science degree in aeropace and ocean engineering from Virginia Polytechnic Institute and State University in 1985 and his master of science degree in aerospace engineering from the University of Maryland in 1990. Mr. Dirlik recently completed a master of science program in applied physics at The Johns Hopins University and currently works in the Radar Cross Section and Target Physics Branch of the Signatures Directorate at the Naval Surface Warfare Center Corderoke Division. He has worked on Navy low observable programs since 1990. Stephen Hambric:is a research associate at the Applied Research Laboratory at The Pennsylvania State University. He received his B. S. and M.S. degree in mechanical engineering from Virginia Polytechnic Institute and State University and his D. Sc. in mechnical engineering from the George Washington University. He has worked on several computer aided multidiscikplinary design and optimization projects over the years including an automated propeller design system and a structural acoustic optimization capability. Dr. Shpour Azarm:is currently working as an associate professor with the Design and Manufacturing Group of the Department of Mechanical Engineering at the University of maryland at College Park. Dr Azarm's expertise is in the areas of optimization-based designed and concurrent design and optimization of multidisciplinary systems. He was a consultant at Black & Decker Corporation (summer 1996) and worked as a Navy senior summer faculty fellow (summer 1995) and a NASA summer faculty fellow (summer 1994). He was a visiting scientist at NASA Langley Research Center for Multidisciplinary Analysis and Applied Structural Optimzatiom at the University of Siegen in Germany (spring 1992) and the Design Institute of the Technical University of Denmark (summer 1990). Dr Azarm was an associate technical editor of the ASME Jour

A prototype concurrent engineering tool has been developed for the preliminary design of composite topside structures for modern navy warships. This tool, named GELS for the Concurrent engineering of Layered Structures, provides designers with an immediate assessment of the impacts of their decisions on several disciplines which are important to the performance of a modern naval topside structure, including electromagnetic interference effects (EMI), radar cross section (RCS), structural integrity, cost, and weight. Preliminary analysis modules in each of these disciplines are integrated to operate from a common set of design variables and a common materials database. Performance in each discipline and an overall fitness function for the concept are then evaluated. A graphical user interface (GUI) is used to define requirements and to display the results from the technical analysis modules. Optimization techniques, including feasible sequential quadratic programming (FSQP) and exhaustive search are used to modify the design variables to satisfy all requirements simultaneously. The development of this tool, the technical modules, and their integration are discussed noting the decisions and compromises required to develop and integrate the modules into a prototype conceptual design tool.

关键词： Warships

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Generation of structured process models using genetic programming 3rd

Generation of structured process models using genetic progra...

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3rd Workshop on Artificial Intelligence and Simulation of Behaviour, AISB 1996

作者： Pohlheim, Hartmut Marenbaeh, Peter Daimler Benz AG Systems Technology Research Alt-Moabit 96a BerlinD-10559 Germany Darmstadt University of Technology Institute of Control Engineering Department of Systems Theory and Robotics Landgraf-Georg-Strare 4 DarmstadtD-64283 Germany

ISBN: (纸本)3540617493

The design of structured mathematical models of processes in a certain level of abstraction defined by the given task appears to be difficult and time consuming even for experienced experts. This paper reports on a new method for the design of structured process models based on the metaphor of Genetic Programming. This new methodology allows the automatic generation of non-linear process models in a self-organizing way. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Genetic algorithms

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