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Model Quality and Optimal Identification for control

IFAC Proceedings Volumes 1991年第3期24卷 817-822页

作者： P. Löhnberg B. Franke Control Laboratory Control Systems and Computer Engineering Group Department of Electrical Engineering University of Twente Enschede The Netherlands

Optimal parameter estimation and experiment design requires a weighting between the cost of parameter errors and that of identification itself. Having identified this need, the general principle to obtain both costs for using the model in control design is described. Fast experiment design is achieved by using analytic expressions to calculate the optimal experiment parameters. This is illustrated by a simple example. It is shown that the use of the resulting model criterion in optimal identification is equivalent to cautious stochastic control. A more realistic example is illustrated by simulation.

关键词： Bayes methods least squares approximation optimal control optimization parameter estimation random processes

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An Integrated Approach to controls and Diagnostics Using the Four Parameter controller

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IEEE control systems 1991年第6期11卷 22-29页

作者： Jacobson, C.A. Nett, C.N. Department of Electrical and Computer Engineering Northeastern University Boston MA 02115 United States School of Aerospace Engineering Laboratory for Identification Control of Complex Highly Uncertain Systems (LICCHUS) Georgia Institute of Technology Atlanta GA 30332-0150 United States

This paper presents a foundation for an integrated approach to the design of controls and diagnostics in reliable control systems. In this approach the control module and diagnostic module of the control system are designed together, instead of independently, thereby accounting for the interactions which occur between these two modules in a functioning control system. This approach makes use of a generalization of the familiar two parameter controller known as the four parameter controller. This controller has two vector inputs (rather than one) and two vector outputs;correspondingly, this controller is comprised of four matrix parameters (rather than two). The additional controller output may be viewed as a diagnostic output which is monitored to detect and isolate sensor and actuator faults. The presentation develops a parameterization of all four parameter controllers, delineates the fundamental limitations and inherent tradeoffs governing the design of controls and diagnostics, and gives special attention to the issues of control/diagnostic interaction and uncertainty. Several means for effectively resolving these design tradeoffs are proposed and illustrated by way of an example. © 1991 IEEE

关键词： control systems Fault detection Jacobian matrices Monitoring Actuators Neutron spin echo Research and development Aerospace engineering Laboratories Uncertain systems

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Theories in Distributed Decision Fusion

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IFAC Proceedings Volumes 1991年第5期24卷 195-200页

作者： S.C.A. Thomopoulos Decision and Control Systems Laboratory Department of Electrical and Computer Engineering The Pennsylvania State University University Park PA 16802 USA

Some fundamental results related to binary and multi-level decision logic distributed decision (evidence) fusion (DD(E)F) are presented. New asymptotic performance results for binary and multi-level Neyman-Pearson (N-P) DD Farederived. Acomparative resultbetween N-P DDF and Dempster-Shafer DEF in the framework of the Generalized Evidence Processing (GEP) theory is presented under a specific decision rule at the fusion.

关键词： Decision theory Bayes methods Evidence methods Generalized Bayesian Asymptotic Performance

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Design and implementation of a multidegree of freedom intelligent robot hand

Design and implementation of a multidegree of freedom intell...

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and systems '91

作者： R.C. Luo Min-Hsiung Lin C.K. Shih Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed.< >

关键词： Intelligent robots Fingers Force control Force sensors Grippers DC motors Manipulators Fasteners Timing Parallel robots

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A Single Shot Method for Optimal Step Computation in Gradient Algorithms

A Single Shot Method for Optimal Step Computation in Gradien...

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American control Conference (ACC)

作者： Stelios C. A. Thomopoulos Ioannis N. M. Papadakis Decision and Control Systems Laboratory Department of Electrical and Computer Engineering Pennsylvania State University PA USA

In this paper a new method for the computation of the optimal step in gradient algorithms is presented. This method improves the convergence of the gradient algorithms and outperforms any other suboptimal scheme on linear problems while it does not require any additional storage. The method may be also applied to problems with state or control constraints, linear time varying systems and, via linearization, to nonlinear systems as well.

关键词： control systems Gradient methods Optimal control Convergence Nonlinear control systems Time varying systems Nonlinear systems Performance analysis Search methods Laboratories

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On the Dual Nature of the MRAC and MRAI Problems

On the Dual Nature of the MRAC and MRAI Problems

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American control Conference (ACC)

作者： Ioannis N. M. Papadakis Stelios C. A. Thomopoulos Decision and Control Systems Laboratory Department of Electrical and Computer Engineering Pennsylvania State University PA USA

The dual relation between the Model Reference Adaptive control (MRAC) and Identification (MRAI) problems is discussed. A common framework for both problems is established.

关键词： Adaptive control Error correction Polynomials Programmable control Vectors Transfer functions Upper bound control systems Impedance matching Asymptotic stability

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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

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IEEE International Conference on systems, Man and Cybernetics

作者： C.M. Aras R.C. Luo D.S. Reeves Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Robotics and Intelligent Systems Laboratory Department of Computer Science North Carolina State University Raleigh NC USA

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots Intelligent robots computer architecture control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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A duality approach to model reference adaptive control and identification

A duality approach to model reference adaptive control and i...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： I.N.M. Papadakis S.C.A. Thomopoulos Department of Electrical and Computer Engineering Decision and Control Systems Laboratory Pennsylvania State University University Park PA USA

A common framework for model reference adaptive identification and control (MRAI and MRAC) is established. The key idea for this common framework is to maintain the same set of equations for describing the parameterizations of the plant and the model and to solve the control equation properly for each case (identification or control) for the corresponding tuned system, i.e. the model (identification) or the plant (control). Within this framework, two methods, the MOEM (modified output error method) and the IEM (input error method), for the MRAI and MRAC problems are studied, and global asymptotic stability properties are established.< >

关键词： Adaptive control Transfer functions Polynomials Equations Upper bound control system synthesis Laboratories Programmable control Time invariant systems Convergence

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An effective method for visual pattern recognition

An effective method for visual pattern recognition

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IEEE Workshop on Neural Networks for Signal Processing

作者： I.N.M. Papadakis Decision and Control Systems Laboratory Department of Electrical and Computer Engineering Pennsylvania State University University Park PA USA

An effective method for neural network based visual pattern recognition is presented. It is shown that it can be successfully used for visual recognition of deformed letters. The main advantages of the presented metho... 详细信息

关键词： Pattern recognition Tiles Feature extraction Artificial neural networks control systems Laboratories Testing Neurons

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Model reference adaptive control and identification via the modified output error method

Model reference adaptive control and identification via the ...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： S.C.A. Thomopoulos I.N.M. Papadakis Decision and Control Systems Laboratory Department of Electrical and Computer Engineering Pennsylvania State University University Park PA USA

A modified output error method (MOEM) for model reference adaptive control (MRAC) and identification (MRAI) is introduced. The regressors are properly chosen so that the open-loop system can be compactly expressed as a stable system with an input linear with respect to the unknown plant parameters. The output error satisfies a constructible stable filtered equation. The method does not require any strictly positive real or arbitrary stable filterings, and the uncertainty on the magnitude of the high-frequency gain of the plant does not result in an overparameterization of the identifier. Sufficient conditions on the reference input under which the parameter and output errors converge exponentially to zero are also given.< >

关键词： Adaptive control Error correction Polynomials computer errors Open loop systems Frequency Transfer functions Convergence control system synthesis Laboratories

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