摘要:

AbstractIn this paper a direct version of adaptive generalized predictive control is considered. A direct adaptive generalized predictive control algorithm is suggested and stability of the closed‐loop system is proved under some assumptions. A simulation example demonstrates the effectiveness of the algorith

ISSN:0890-6327    

DOI:10.1002/acs.4480080301

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

摘要:

AbstractA comparative study evaluates the problem of determining the control that must be exerted on manipulator joints. Two different techniques are studied: (i) direct and indirect adaptive controls and (ii) neural adaptive control. In the direct adaptive technique the Lyapunov stability‐based approach is used with the objective of minimizing the tracking errors of the joints in the adaptation process. In the indirect adaptive technique the regulator parameters are updated via the estimation of the process model. This step, using a recursive least squares algorithm, is based on the error at the input and on the filtered dynamic model in order to avoid acceleration measurements.Neural adaptive control is based on learning from input‐output measurements and not on parametricmodel‐based dynamics. It is important to note thatadaptivecontrol requires a real‐time estimation of the system parameters and a well‐defined dynamic model, whereasneural adaptivecontrol does not require any of these conditions.All the above‐mentioned techniques are applied to the trajectory‐tracking control of a two‐degree‐of‐freedom (2DOF) manipulator. the experimental results show the effectiveness of the neural adaptive techniques for the traject

ISSN:0890-6327    

DOI:10.1002/acs.4480080302

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

摘要:

AbstractThis paper proposes maximum likelihood (ML) estimation schemes for nearly completely decomposable Markov chains (NCDMCs) in white Gaussian Noise. Aggregation techniques based on stochastic complementation are applied to significantly reduce the dimension of the resulting hidden Markov model (HMM) and hence substantially reduce the computational requirements of the estimation algorithms. Stochastic complementation results in exact aggregation in that no approximations are involved in the steady state probability distribution of the Markov chain.We then present anoff‐lineestimation algorithm for the parameters and states of the HMM based on the estimation of the aggregated HMM. This off‐line algorithm is an ML estimation scheme and is based on the expectation maximization (EM) algorithm. It has a significantly reduced computational complexity compared with the standard (full‐order) EM‐based HMM estimation scheme.Finally we present an application of our techniques. We show that hidden NCDMCs can be used to formulate the blind equalization problem for noisy FIR channels with Markov inputs, e.g. phase‐shiftkeyed (PSK) signals. We then propose recursive EM and gradient estimation techniques for the aggregated HMM resulting inon‐lineestimates of the channel coefficients and signal estimate.For anNa‐state Markov chain our aggregate‐based estimation scheme has a computational complexityO(N−2a), whereas standard algorithms have a complexityO(Na−L+ 1) at each time instant, whereLis the length

ISSN:0890-6327    

DOI:10.1002/acs.4480080303

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

摘要:

AbstractIn this paper multivariable generalizations of the SISO unified process model (UPCM) and unified prediction model (UPM) used in the SISO unified predictive controller are presented. the necessary assumptions regarding the multivariable UPCM (MUPCM) are established. the properties of the multivariable UPM (MUPM) are examined and the conditions for a zero steady state prediction error are established.The MUPCM has a general noise model and unites all multivariable, discrete, linear process models in transfer function form. the MUPM uses an output filter which unites all relevant output filters used in predictive controllers. Furthermore, the elements of the output can be predicted over different horizons. the MUPCM and MUPM and the algorithm used to calculate the MUPM are chosen such that the predictions of the outputs can be calculated as fast as possible, not only for the general model, but also for special cases such as ARX, ARIMAX, Box‐Jenkins and FIR model

ISSN:0890-6327    

DOI:10.1002/acs.4480080304

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

摘要:

AbstractThis paper presents a non‐linear model reference adaptive controller for robot manipulators. Although the motivating application for this algorithm is in the field of robotics, the algorithm could be applied to non‐linear systems that are feedback‐linearizable. The algorithm developed does not require the measurement nor the estimation of manipulator joint velocities or accelerations. Simulation results verify the performance of the m

ISSN:0890-6327    

DOI:10.1002/acs.4480080305

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

摘要:

AbstractA new control algorithm is developed for the discrete time, finite horizon adaptive LQG problem. In the new algorithm, randomization over linear control functions is performed at future stages to find a deterministic desired controlU(k)at the current stage. This randomized linear control policy, which isU(k)‐dependent and non‐linear in measurements, incorporates explicitly the knowledge available about the unknown parameter at future stages in terms of the posterior distribution. At the same time it enables us to obtain a closed form expression of an approximation of the optimal control‐cost function. Numerical examples comparing the new solution with the optimal are also pro

ISSN:0890-6327    

DOI:10.1002/acs.4480080306

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480080307

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480080308

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480080309

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY

ISSN:0890-6327    

DOI:10.1002/acs.4480080310

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1994

数据来源: WILEY