摘要:

A recent transformation proposed for polynomial matrices is extended to the systems theory case of general polynomial system matrices. Two such extensions are proposed depending on whether the system matrix or its normalized form is used. The relationship between both these transformations is established, and under them all finite and infinite frequency system-zero and -pole structure is shown to be invariant

ISSN:0020-7179    

DOI:10.1080/00207179008953521

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

A relatively simple ‘generalized’ H∞control law was recently introduced in Part 1. In Part 2, the solution of the derived H∞polynomial equations for self-tuning applications was considered in addition to the good robustness properties of the H∞closed-loop system. In this final part of the trilogy, the parameter estimation and controller calculation algorithms are described and the global convergence properties for the H∞self-tuning controller are derived. The utility of the self-tuner is demonstrated by the simulation of a ship steering system

ISSN:0020-7179    

DOI:10.1080/00207179008953522

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

An adaptive controller that achieves a pure tracking force objective for n-link robot manipulators is presented in this paper. The main features of the proposed algorithm are: (i) the dynamic parameters of the robot are assumed to be unknown, (ii) object stiffness is unknown, (iii) only position, velocity and interaction force measurements are required. Under the practical assumption of a constant inertia matrix, the scheme is shown to be globally convergent to zero-force tracking error. This assumption can be removed for single link devices, thus providing the first proof of the global convergence of an adaptive force controller that includes estimation of both manipulator and environment dynamics

ISSN:0020-7179    

DOI:10.1080/00207179008953523

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

A necessary and sufficient condition is proved for the existence of a bistable spectral factor (with entries in the distributed proper-stable transfer function algebra 𝒜-) in the context of distributed multivariable convolution systems with no delays; a by-product is the existence of a normalized coprime fraction of the transfer function of such a possibly unstable system (with entries in the algebra ℬ of fractions over 𝒜-). We next study semigroup state-space systems SGB with bounded sensing and control (having a transfer function with entries in ℬ) and consider its standard LQ-optimal regulation problem having an optimal state feedback operator K0. For a system SGB, a formula is given relating any spectral factor of a (transfer function) coprime fraction power spectral density to K0; a by-product is the description of any normalized coprime fraction of the transfer function in terms of K0. Finally, we describe an alternative way of finding the solution operator K0of the LQ-problem using spectral factorization and a diophantine equation: this is similar to Theorem 2 of Kucera (1981) for lumped systems

ISSN:0020-7179    

DOI:10.1080/00207179008953524

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

Simple adaptive control techniques have recently been developed for continuous stationary and non-stationary linear systems, based on the fact that the output stabilizability property of systems can be used to realize ‘almost passive’ configurations that may facilitate the implementation of simple robust adaptive controllers. This paper extends these concepts to a class of non-linear systems that are linear in the control; this includes manipulators and similar systems. Since it has recently been shown that non-linear systems that can be stabilized via static or dynamic output feedback become ‘almost passive’ via some corresponding parallel feedforward, a rigorous proof of the robust stability of the simple adaptive control of non-stationary almost passive systems is presented

ISSN:0020-7179    

DOI:10.1080/00207179008953525

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

This is follow-up research of the regulator design for a single-link flexible manipulator using the sliding-mode technique (Yeung and Chen 1989). In this paper, we have extended the controller design for the regulation problem to that for the tracking problem when the single-link manipulator is moving on a horizontal plane. In addition, by placing strain gauges along the flexible arm (Hastings and Book 1985) we can substitute strain measurements for the need to estimate modal functions, which is a step close to implementational reality. Extension of the controller design is also carried out to the regulation of a flexible arm under gravity. A PID compensation is needed to compensate for the steady-state offset due to gravity. The controller design presented is simple and requires no inertia matrix inversion, no modal estimation and no payload forecast. Simulation studies demonstrate the robustness of the control against input disturbance and payload variations

ISSN:0020-7179    

DOI:10.1080/00207179008953526

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

A new algorithm for non-square internal model control systems based on the pole placement approach has been developed. The algorithm can handle any n-input and m-output minimum- or non-minimum-phase systems. The process factorization and inversion are combined into the derivation of the control law so that these procedures can be avoided. A tuning gain is introduced in the algorithm to improve the performance, and can be determined in a stable region by an optimization technique. The offset is eliminated through the integral action of the errors in the algorithm. Moreover, the overall characteristic behaviour of the control system consists of the feedforward and feedback control behaviour so that it has both tracking and disturbance rejection abilities. Comparisons with classical internal model control (IMC) and simplified model predictive control design for m × m square systems are also discussed.

ISSN:0020-7179    

DOI:10.1080/00207179008953527

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

The optimal filter (minimum mean square error) of discrete bilinear stochastic systems with output feedback is studied here. The sequential filter of bilinear systems is derived for suboptimal adaptive estimation of the unknown aprioristate and observation-noise statistics simultaneously with the bilinear system state. The unbiased estimations of state-noise varianceQand observation-noise variance R are obtained under some usual conditions. For on-line operation, this paper gives the recursive form of this adaptive suboptimal filter (ASF). Computer simulations show that ASF approximates the minimum mean square error (MSE) filter very well, and ASF provides improved state estimates at little computing expense

ISSN:0020-7179    

DOI:10.1080/00207179008953528

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

We consider controlled discrete event systems as formulated by Golaszewski and Ramadge, with a control specification assumed to be given in terms of predicates. First, we discuss the unique existence of the maximally and minimally permissive (practical) feedbacks. Next, we consider a specification in a modular fashion, and study the relationship between the control-in variance of the total predicate and that of component predicates. Finally, it is shown that, under a certain condition, if each component predicate has unique maximally and minimally permissive feedbacks, the unique maximally and minimally permissive practical feedbacks for the conjunction of component predicates exists in the intersection of the sets of permissive feedback for them. Moreover, we demonstrate modular feedback synthesis for a simple manufacturing system

ISSN:0020-7179    

DOI:10.1080/00207179008953529

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

This paper considers the problem of dynamical order assignment for linear descriptor systems by derivative feedback control. The approach is based on an ability to adjust the number of infinite non-dynamical modes of the system within a permissible range. Increasing the dynamical order enables the designer to implement specific otherwise unrealizable control strategies. On the other hand, dynamical order reduction simplifies the design procedures for a large scale system. The solution is obtained by imbedding the descriptor-space problem in an equivalent state-space problem where a zero-value eigenvalue with a prescribed geometric multiplicity is assigned to a linear state system by proportional feedback control

ISSN:0020-7179    

DOI:10.1080/00207179008953530

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor