NDLI: Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design

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Operating Committee

Program Committee

Hierarchical Expert System for Process Control

Advantages of the Modern Approach to the Simulation of Linear Dynamic Systems

New Concept for a Flexible Simulation System

Optimal q-Markov Cover for Finite Precision Implementation

A Fast Algorithm for Computing Interval Rational Functions

On the Robustness of MEOP Design versus Asymptotic LQG Synthesis

The Design of Gain-Constrained Linear Feedback Controllers

Mathematical Theory of Optimal Processes for Singular Systems

On the Controllability and Observability of Hybrid Systems

A Unification of System Transformations

Linear Periodic Systems : Time-Invariant Equivalents

Stability and State Feedback Control of Differential Unit Memory Linear Multipass Processes

Application of the Inverse LQ Design Method to the Nonzero Set Point Regulator Design

Boresight Disturbance Modeling of a Space-Based Electromagnetic Rail Gun

The Jitter Beam: An Experiment Demonstrating Pointing Control on a Flexible Structure

Payload Adaptation of A Flexible One-link Manipulator

Near-Minimum-Time Control of a Flexible One-Link Robot

Unconstrained and Constrained Mode Expansions for a Flexible Slewing Link

Projective Controls for Disturbance Attenuation in LSS Systems

Multivariable Analysis and Controller Design for Coordinated Multi-Axial Motion Control

Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design

Robotic Deburring of parts with Unknown Geometry

Adaptive And Repetitive Digital Control Algorithms for Noncircular Machining

Control of Precise Positioning System with Cascaded Colinear Actuators

Two-Stage Actuation for Improved Accuracy of Contouring

An Assessment of Air-to-Air Missile Guidance and Control Technology

Filtering and Implementation for Air-to-Air Target Tracking

Application of the Mixed Guidance Strategy Concept in 3D

Best-Range Study for a Boost-Sustain Missile

Optimal Guidance LAM Implementation Issues

Reachable Set Control For Preferred Axis Homing Missiles

Asymptotic Series Solutions to a Class of Stochastic Dual Control Problems

Use of Assumed Modes in Equations Governing Large-Displacement Elastodynamic Plate Behavior

Interactive Computerized Symbolic Dynamics for the Dynamicist

Improved Methods for Linearized Flexibility Models in Multibody Dynamics and Control

Application of AI Methods to Aircraft Guidance and Control

Fault Tolerant Intelligent Controller for Space Station Subsystems

Rule-Based Mechanisms of Learning for Intelligent Adaptive Flight Control

Experimental Evaluation of Predictive Information as an Operator Aid in the Control of Research Reactor Power

A Blackboard Control Architecture for Real-Time Control

Self-Adjusting Model Algorithmic Control of a Three-Phase Electric Arc Furnace

Nonlinear Control of a Two-Input, Trhee-State Polymerization Reactor

Evaluation of Alternative Control Strategies for Delayed Coker by Dynamic Simulation

Design of a Self-Tuning Expert Controller for a Gasoline Refinery Catalytic Reformer

Design of Proportional-Minus-Delay Action Feedback Controllers for Second- and Third-Order Systems

An Expert System for Tuning PID Controllers

The Design and Experimental Evaluation of a Non-Linear State-Variable Feedback Controller for Nuclear Reactors

Real Time Control of Inverse Response using Dynamic Matrix Control

A Multivariable Controller for Hydrotreater Severity

Stability and Robustness of the DMC Algorithm as Compared with the Traditional ARMA Model

Application of a Large Predictive Multivariable Controller to a Hydrocracker Second Stage Reactor

Simulation of UDMC on a Fed-Batch Bioreactor

Quadratic Dynamic Matrix Control of Hydrocracking Reactors

Development of a New Generation of Interactive CACSD Environments

Digital Active Control Law Synthesis for Aeroservoelastic Systems

Numerical Algorithms and Software for Spectral Factorization Problems

A General Program to Compute the Multivariable Stability Margin for Systems with Parametric Uncertainty

A Structured Singular Value Approach to Missile Autopilot Analysis II

New Features for Program CC

Robust Parameter Adjustment

The Class of Unmodeled Dynamics in Robust Adaptive Control

Indirect Adaptive Control of Processes Satisfying the Classical Assumptions of Direct Adaptive Control

Adaptive Robust Control via Transfer Function Uncertainty Estimation

Adaptive Robust Control: A New Approach

Adaptive Regulation of Nonlinear Systems with Unmodeled Dynamics

On the Class of All Stabilizing Regulators

Analysis and Design for Ill-Conditioned Plants

Analysis of Systems with Element-by-Element Bounded Uncertainties

A Technique for Designing Dyadic Controllers

A General Statement of Structured Singular Value Concepts

An application of $H^{∞}$ super optimization in multivariable control system design

On computing the $H_{∞}$ norm of a transfer matrix

Optimal $H^{∞}$ norm computation for MIMO systems with multiple RHP zeros

Convergence of an Adaptive Filter with Signed Error Filtering

A Suboptimum Maximum Likelihood Approach to Parametric Signal Analysis

Optimal and Suboptimal Distributed Decision Fusion

Distributed Detection with Consulting Sensors and Communication Cost: The Gaussian Case

Image Tracking in Multitarget Enviornment

A Joint Probabilistic Data Association Smoothing Algorithm for Multitarget Tracking

The tracking index: α-β prediction and smoothing

Optimal Control and Estimation for Grazing Angle Problem

Convergence of a Single Run Simulation Optimization Algorithm

Generalized Semi-Markov Processes and CI Arbitration Algorithm

Applications of Perturbation Techniques to Optimal Resource Sharing in Discrete Event Systems

Smoothed Perturbation Analysis of Markovian Queueing Networks

On-Line Optimization of Discrete Event Processes

Another Approach to the Control of Discrete Event Systems with Minimal Switchings

Kali: An Environment for the Programming and Control of Cooperative Manipulators

Load Distribution between Two Coordinating Robots by Nonlinear Programming

Experimental Verification of Dual Arm Controller Performance

Dynamic Workspace Analysis of Two Cooperating Robot Arms

Minimizing Object Strain Energy for Coordination of Multiple Robotic Mechanisms

Dynamic Coordination of a Multiple Robotic System with Point Contact

Evaluation and Time-Scaling of Trajectories for Wheeled Mobile Robots

Velocity Profile Generation of a Robotic Manipulator to Minimize Tracking Error

Precise Computer Controlled Positioning of Robot End Effectors Using Sensory Feedback

Robot Trajectory Tracking with Self-Tuning Predicted Control

A Computational Technique for Solving Robot End-Effector Trajectories into Joint Trajectories

On the Controllability of Single-Step Optimization of Robotic Manipulators

Straight-Line Single-Step Optimization of Manipulators with a Variable Cost-Weighting Matrix

Performance of Lightweight Manipulators under Joint Variable Feedback Control: Analytical Study of Limitations

Integrated Guidance and Control for Combined Command/Homing Guidance

Adaptive Control Applied to Missile Autopilots

A General Adaptive Control Structure with a Missile Application

Multivariable Autopilot Designs for a Bank-to-Turn Missile

6DOF Simulation Analysis for a Digital Bank-to-Turn Autopilot

Autopilot Design for Bank-to-Turn Missiles using LQG/LTR Methodology

Obstacles to High Fidelity Multibody Dynamics Simulation

Control System Verification Using Realtime Execution of Symbolically-Generated Multibody Equations of Motion

Autonomous Control Systems: Architecture and Fundamental Issues

A Workstation for the Integrated Design and Simulation of Flight Control Systems

An Optically Driven Learning Control for Industrial Manipulators

Knowledge-Based Approach to Real-Time Supervisory Control

Artificial Intelligence Planning Problems in a Petri Net Framework

An Expert System to Identify the Steady State Performance Characteristics of Journal Bearings through Non-Intrusive Image Processing Techniques

Analysis of Process Dynamics using Computer Memory and Controlled Resolution

Kalman Filtering Applied to Sheet Measurement

Preliminary Design of a Data Acquisition and Control System for a Nuclear Reactor

Data Clustering and Prediction for Fault Detection and Diagnostics

Monolithic Sensor Interfaces with On-Board Digital Signal Processing

Implementation of a MRAC for a Two Axis Direct Drive Robot Manipulator using a Digital Signal Processor

Robot Vision System using a Single DSP Chip

Using the HCTL-1000 Motor Control Chip for Coordinated Robot Motions

Robust Control of Batch Processes

The Use of Differential Information for Batch Reactor Control

Control of Batch Evaporative Crystallization of Sugar by Means of Adaptive Simulation

On-Line Estimation of Conversion and the Molecular Weight Distribution in Batch Methyl Methacrylate Solution Polymerization

Composition Control and Kalman Filtering in Emulsion Copolymerization

Dynamic Programming Used to Provide Artifical Intelligence Batch Processes

Flexible Production Hard- and Software for a Multiproduct Batch Plant

Simple Control of Highly Exothermic Reactions

CONSOLE: A CAD Tandem For Optimization-Based Design Interacting with User-Supplied Simulators

A Multivariable Toolbox for use with Matlab

A Decision Support System for Multi-Objective Design of Practical Controllers

A Data-Base Management Scheme for Computer-Aided Control Engineering

An Interface for Computer-Aided Control Engineering based on an Engineering Data-Base Manager

Design of a Portable and Extensible Computer-Aided Control System Design Environment

Survey of CAD/CAE Tools for Control System Design

The Recursive Algorithm for the Optimal Static Output Feedback Control Problem of Linear Singularly Perturbed Systems

Robust Model Reference Adaptive Control for Multivariable Plants

Model Reference Robust Adaptive Control without a Priori Knowledge of the High Frequency Gain

Robust Adaptive Stabilization of Not Necessarily Minimum-Phase Plants

An Averaging Analysis of Discrete-Time Indirect Adaptive Control

Disturbance-Generated Bifurcation in an Adaptive System with e1-Modification Law

Batch Least Squares Adaptive Control in the Presence of Unmodelled Dynamics

Robust Indirect Adaptive Control of Linear Time-Varying Systems

A Self-Tuning Controller using an Incremental Predictor in the Presence of Bounded Disturbances

On the Stability of a Self-Tuning Controller in the Presence of Bounded Disturbances

Parameter Space Methods for Robust Control Design: A Guided Tour

Simultaneous Design of Linear Time-Invariant Systems using Generalized Sampled-Data Hold Functions

Robust Stabilization of Uncertain Systems

LQG control with an $H_{∞}$ performance bound: a riccati equation approach

Observer Design for Loop Transfer Recovery and for Uncertain Dynamical Systems

Conditions for Robustness of LFGGREC to Uncertainty in the Coefficient Matrix of the Unknown Disturbance

On the Robustness of Linear Stabilizing Feedback Control for Linear Uncertain Systems

The Minimal Dimensionality of Stable Faces Required to Guarantee Stability of a Matrix Polytope

Stability Robustness Measures under Dependent Uncertainty

An Integrated Approach to Controls and Diagnostics: The 4-Parameter Controller

Issues in Algebraic Control Theory

Robust stabilization of normalized coprime factors: an explicit $H_{∞}$ solution

Coprime Factorization for Linear Time-Varying Systems

Towards Simultaneous Performance: Application of Simultaneous Stabilization Techniques to Helicopter Engine Control

Discrete-Time Domain Analysis and Synthesis of Repetitive Controllers

Application of the Variable Component Method to Multirate Periodic Discrete-Time Systems

On a Discrete-Time System Expressed in the Euler Operator

Minimum Roundoff Noise 2-D Compensators

Optimal Hold Functions for Sampled Data Regulation

Multirate Digital Regulation

Observer based, Dead-Beat Controller with Reduced Sensitivity

Robust Controller Design for Discrete-Time Systems

On the Stability of the Constrained Robotic Maneuvers

Two-Stage Robust Model Following Control for Robot Manipulators

A Time Delay Controller for Systems with Unknown Dynamics

Application of Sliding Mode to Constrained Robot Motion Control

The Split Control Method for MIMO Servo Design

Exact Linearization of Nonlinear Manipulator Models using Adaptive Control

Feedback Control of Position and Contact Force for a Two-Dimensional Mechanism Constrained to a Given Planar Contour

Joint-Based Control of a Nonlinear Model of a Flexible Arm

Three Loop Balanced Bridge Feedback Pointing Control

Force/Torque Sensing and Micro-Motion Manipulation of a Spherical Stepping Wrist Motor

Modeling and Control of Multiple Web Spans using State Estimation

Pattern Matching Algorithm for Identification of Load Mass of an Elastic Robot Arm

The Equivalence of Three Dynamic Analysis Methods and an Approach to Real-Time Dynamics of Robot Manipulators

Considerations for Automated Nap-of-the-Earth Rotorcraft Flight

Global Optimization of Medium-Range Air-to-Air Interceptions

Periodic Neighboring Optimum Regulator Applied to a Hypersonic Scramjet Cruiser

Optimal Reentry Guidance for Aeroassisted Orbit Transfer Vehicles

Initial Experiments on the Control of a Two-Link Manipulator with a Very Flexible Forearm

An Experimental System for Investigation of Flexible Links Experiencing General Motions

Rapid Multi-Flexible-Body Maneuvering Experiments

Development of a Control Oriented Model of a Cantilevered Beam with End-Mass

Experimental Verification of a Large Flexible Manipulator

The Control of an Elastic Manipulation Device using DSP

A Schur Method for Balanced Model Reduction

A Fractional Approach to Model Reduction

A Geometric Analysis of the Zeros and Residues via the Dual GHR

Approximation of State-Affine Discrete-Time Systems using Q-Volterra Covariance Equivalent Realizations

A Reduced-Order Model of a Fixed-Bed Reactor based on Novel Application of the Taylor-Dispersion Approximation

A Mixed Method for the Simplification of High-Order Systems

A New Method for Discrete-Time System Reduction

Effects of Computing Time Delay on Real-Time Control Systems

Finite-Dimensional Modeling of Network-Induced Delays for Real-Time Control Systems

A Real-Time Kernel for Distributed Multi-Robot Systems

Error Understanding in Computer Integrated Manufacturing Processes

On Use of 802.4 Token Bus in Distributed Control Systems

Manipulative Variable Selection for Stabilizing Control of a Competitive Mixed Culture

Optimal Feedback Control of a Bioreactor with a Remote Sensor

Analysis and Control of Fermentation Processes by Optimal and Geometric Methods

Periodic Operation of Continuous Fermentations Subject to Periodic Variation of Dilution Rate

Non Linear Adaptive Control Algorithms for Fermentation Processes

Application of On-Line Estimation Techniques to Fermentation Processes

Teachware for Control

Laboratory for a First Course in Modeling and Automatic Control

Digital Control at Stanford

Mechanical Engineering Control System Curriculum

Novel Systems and Dynamics Teaching Techniques using Bicycles

Adaptive Control Systems for Machining

Adaptive Observer for Optimal Control of Lathe Tool Wear

Implementation of Self-Tuning Control to Surface Accuracy Control in End Milling

Stochastic Self-Tuning Control of Cutting Forces in a CNC Machine Tool

A Cascaded Adaptive Controller for CNC Lathe Spindle Drives

Model Reference Adaptive Control of Force in End Milling Operations

Robustness in the Presence of Joint parametric Uncertainty and Unmodeled Dynamics

Robustness Margin Calculation with Dynamic and Real Parametric Uncertainty

Robustness Analysis based on Passivity

Structured singular value with repeated scalar blocks

A polynomial approach to the $H_{∞}$ control design method

Stability Theory for Linear Time-Invariant Plants with Periodic Digital Controllers

Stablization of Continuous-Time Linear Time-Varying Systems via Transfer Matrices and Fractional Representations

Four-Input Four-Output Feedback Systems: Robust Asymptotic Behaviour

Zeros in Plant Specification: Constraints and Solutions

A Note On The Graph Topology

Coprime Factorizations in Stable Linear Systems

Eigenstructure Conditions for Loop Transfer Recovery

Multi-Stage Parametric Eigenstructure Assignment by Output-Feedback Control

Eigenstructure Assignment for the Control of Highly Augmented Aircraft

On The Computation Of Eigenvalue Assignment Problem

On a LQ Optimal Region for Pole Assighnment

An Analysis of AIC for Linear Stochastic Regression and Control

Direct Estimation of Noise Covariances

Constrained Time-Varying System Modelling

Pseudo-Linear Identification: Optimal Joint Parameter and State Estimation of Linear Stochastic MIMO Systems

Experimental Identification of Modeling Errors in Dynamic Systems

An Averaging Gradient Algorithm for the Identification of Perturbed Plant

On a Fractional Representation Approach to Closed-Loop Experiment Design

On Identification of Discrete Hammerstein Systems by the Fourier Series Regression Estimate

Nonparametric Procedures for Identification and Control of Linear Dynamic Systems

Robust Computed Torque Control of Mechchanical Manipulators: Non-Adaptive vs. Adaptive

Nonlinear Robotic Control Including Drive Motor Interactions

Nonlinear Robust Robot Control in Cartesian Coordinate

Nonlinear Robust Hybrid Control of Robot Manipulators

Robust Control of Robot Manipulators in Cartesian Space

Prediction of Stationary Response of Robot Manipulators under Stochastic Base and External Excitations - Statistical Linearization Approach

The Inverse Function Approach to Kinematic Control of Redundant Manipulators

On the Use of Redundancy in Robot Kinematic Control

Real-Time Implementation of a Kinematic Optimization Scheme for Seven-Degree-of-Freedom Redundant Robots with Spherical Wrists

Resolution of Kinematic Redundancy using Optimization Techniques

Control and Stability Analysis of Cooperating Robots

Sequential Multiple Hypothesis Testing for Fault Detection and Diagnosis

Robust Observer Design with Application to Fault Detection

Fault Detection in Multiply-Redundant Measurement Systems via Sequential Testing

Trajectory Optimization and Guidance Law Development for National Aerospace Plane Applications

The Goddard Problem with Constrained Time-of-Flight

Optimal Launch Conditions on the "No-Escape-Envelope"

Optimization and Guidance of Penetration Landing Trajectories in a Windshear

Helicopter Trajectory Planning using Optimal Control Theory

Advanced Control Evaluation for Structures (ACES) Programs

ACES Program: Lessons Learned

Application of FAMESS to a Large Space Structure Ground Test Facility

Experimental Demonstration of the Maximum Entropy/Optimal Projection Design Theory for Active Vibration Control

Recent Results in Identification and Control of a Flexible Truss Structure

Identification of a Flexible Truss Structure using Lattice Filters

Fast Computation of the Multivariable Stability Margin for Real Interrelated Uncertain Parameters

Closed-Loop Systems with Guaranteed Stable Reduced Order Compensator

New Results for the Stability Analysis of Time-Varying Linear Systems Part I: The Case of Reduced Systems

A Stability Region of Parameters Perturbation for Linear Time-Varying Systems

Frequency Domain Conditions for the Stability of Low Order Perturbed Polynomials

Stability Margins for Discrete-Time Optimal Regulators

Algorithms to Estimate the Distance between a Stable Matrix to the Nearest Unstable One

Algebraic Theory of Two-Channel Decentralized Control Systems

Application of Inclusion Principle to Mechanical Systems

A Completely Decentralized Suboptimal Control Strategy for Moderately Coupled Interconnected Systems

Indirect Adaptive Control for Interconnected Systems

Decentralized Adaptive Control: Structural Conditions for Stability

Decentralized Model Reference Adaptive Control of Large Flexible Structures

A Time-Varying Communications Approach to Decentralized Fixed Modes

Robustness and Tie-Line Stiffness in a Multi-Area Interconnected Power System

Robust Stabilization of Large-Scale Systems with Nonlinear Perturbation

On Fixed Modes in Singular Systems

A Rapprochement of Feedforward and Feedback Linearization with Process Control Practice

On the Characterization and Evaluation of Stability of Nonlinear Systems

Robust Deadtime Compensation for Nonlinear Processes

Dynamics and Tuning of Systems with Large Delay

Numerical Singularity Analysis of Feedback-Controlled Chemical Reactors

Designing Nonlinear Control Structures by Reference System Synthesis

Comparison between Process Model based Controllers

Inexpensive Experiments for Undergraduate Control System Laboratories

A Generic, Hands-On Control System Laboratory

Education in Robotics by Means of PC's

Automatic Control Laboratory: New Approach to Classical Problems

A Three Course Control Laboratory Sequence

Knowledge-Based Approach to Reconfigurable Control Systems

Implementation of Adaptive Proximate Time-Optimal Controllers

Parameter Estimation and Pole-Placement Control of Time-Varying Plants

Adaptive Control for Periodical Time-Varying Systems with Unknown Frequencies

Model-Reference Adaptive-Control Scheme for Servo Systems based on the Coefficient-Plane Method

A Comparison of Adaptive Controllers: Academic vs Industrial

A Critical Performance Evaluation of Four Single Loop Self Tuning Control Products

Loop-Shaping Design for an Ill-Conditioned Plant

Integrated Design/Implementation of Nonlinear Digital Controllers

$H^{∞}-optimal$ design for helicopter control

Model Reduction for Robust Control: A Schur Relative-Error Method

State-space solutions to standard $H_{2}$ and $H_{∞}$ control problems

Controller Order Reduction with Guaranteed Stability and Performance

On Discrete Inner-Outer and Spectral Factorizations

On the Caltech Experimental Large Space Structure

Feedback organizations, learning and complexity in $H^{∞}$

Singular Perturbation Analysis of a Distributed Parameter Model of Flexible Manipulators

A Singular Perturbation Analysis of High Frequency Filter Design

A Real Schur Form Method for Modeling Singularly Perturbed Systems

Singular Perturbation in Piecewise-Linear Systems

An Algebraic Framework for Multiple-Frequency-Scale Systems

Time-Varying High-Gain Feedback

Three-Dimensional Atmospheric Entry Problem using Method of Matched Asymptotic Expansions

On the Optimality of Certainty Equivalence for Adaptive Model Reference Control

Nonlinear Compensation and Stochastic Control

Stability Robustness Measures for Stochastic Parameter Control Systems

Recent Developments in Probabilistic Approaches to Optimal Control Theory

Necessary and Sufficient Conditions for Bounded Covariance in Linear Stochastic Systems

On the Optimal Control of the Integrated Brownian Motion

A Reduced Order Stochastic Controller

Reduced Order Stochastic Models

Rivival of Lyapunov's Direct Method in Robot Control and Design

Strict Global Lyapunov Functions for Mechanical Systems

A New Class of Energy Based Control Laws for Revolute Robot Arms: Tracking Control, Robustness Enhancement and Adaptive Control

A Positive-Real Modification of a Class of Nonlinear Controllers for Robot Manipulators

The Robust Application of Computed Torque Control to Manipulators Subject to Saturation

Attitude Control of an Object Commonly Held by Multiple Robot Arms: A Lyapunov Approach

Parallel Algorithms for Large Scale Power System Dynamic Simulation

Distributed Aggregation/Disaggregation Algorithms for Optimal Routing in Data Networks

A Branch-and-Bound Algorithm for Multiple-Target Tracking and its Parallel Implementation

Optimization with the Mixed Coordination Method

New Decomposition and Convexification Methods for Nonconvex Large-Scale Primal-Dual Optimization

Fiber Optics for Aircraft Engine Controls

Very High Speed Integrated Circuits/Gallium Arsenide Electronics for Aircraft Engine Controls

The Characterization of High Temperature Electronics for Future Aircraft Engine Digital Electronic Control Systems

Data Flow Analysis of Concurrency in a Turbojet Engine Control Program

High Temperature, Lightweight, Switched Reluctance Motors and Generators for Future Aircraft Engine Applications

Potential Application of Composite Materials to Future Gas Turbine Engines

Robust Stability of Feedback Control Systems with Uncertain Parameters and Unmodelled Dynamics

Frequency Domain Conditions for the Robust Stability of Linear and Nonlinear Dynamical Systems

A Generalization of Kharitonov's Four Polynomial Concept for Robust Stability Problems with Linearly Dependent Coefficient Perturbations

Simultaneous Stabiliaztion: An Application of Kharitonov-Like Results

Parameter Partitioning via Shaping Conditions for the Stability of Families of Polynomials

Optimal Placement of Piezoceramic Sensors and Actuators

Development of Piezoelectric Technology for Applications in Control of Intelligent Structures

Smart Components for Structural Vibration Control

Low Authority Control of a Composite Cantilever Beam in Two Dimensions

On-Line Identification of Process Models in Closed Loop Material Testing

A State-Space Model for Multiple-Input-Multiple-Output Manufacturing Systems

Modeling and Sensing Issues for Machine Diagnostics

An Adaptive Observer for On-Line Tool Wear Estimation in Turning - Part I: Theory

An Adaptive Observer for On-Line Tool Wear Estimation in Turning - Part II: Results

The Predicted Performance of a Flapper-Nozzle Valve: Comparison with Experiment

Kappa Number Estimation, Control and Management in the Pulping Process

Challenges and Opportunities in Pulp and Paper Process Control

On Adaptive Control of Color for Paper Machines

Large Scale Ammonia Process Optimization in Real-Time

Large Scale Plant Optimization Problems

A Self-Tuning Multivariable PI Controller

Discrete Time Model Reference Adaptive Control for Continuous Time Systems using Generalized Sampled Data Hold Functions

Signal Compensation Method for Time-Varying Adaptive Control

Stable Direct Adaptive Control of Time-Varying Discrete-Time Systems: Detailed Analysis for a First-Order Plant

Consistent Parameter Estimation in Adaptive Control for MIMO Systems

Self-Tuning Motion Controller for Varying System Parameters

Adaptive Control of a Class of Multivariable Nonlinear Systems and Convergence Analysis

Robust Stability Analysis of Coupled Oscillators

Controller Design for Uncertain Systems via Lyapunov Functions

The Two Tank Experiment: A Benchmark Control Problem

Quantitative Feedback Theory (QFT)

$H^{∞}$ robust control synthesis for a large space structure

A Robust Control Experiment using an Optical Structure Prototype

A Continuum Approach to Minimum Time

Minimum Time Control with Trajectory Reassignment for Multi Degree-of-Freedom Systems Part I

Minimum Time Control with Trajectory Reassignment for Multi Degree-of-Freedom Systems Part II

Receding Horizon Tracking Control as a Predictive Control and its Stability Properties

Application of Parameter Optimization to the Optimum Burning Program for Horizontal Flight

A Fourier-Based Optimal Control Approach for Structural Systems

A Kind of Optimal Incentive Strategy for Leader-Follower Games

Recovering the Poles from Fourth-Order Cumulants of System Output

A Kronecker product formulation of the cumulant based realization of stochastic systems

Recursive Methods for Computation of One-Dimensional Cumulants

The Asymptotic Second Order Moments of the Estimated Third Order Cumulants of Stationary Processes

Adaptive Cumulant-Based Estimation of ARMA Parameters

Adaptive Filtering via Cumulants and LMS Algorithm

High Resolution Estimation of Quadratic Phase Coupling in Nonlinear Systems

Improving the Efficiency of Time-Optimal Path-Following Algorithms

Dynamic Control of Redundant Manipulators

Augmented Object and Reduced Effective Inertia in Robot Systems

Load Balancing and Closed Chain Multiple Arm Control

Strategy and Stability Analysis of Position and Force Control for Two Industrial Robots Handling a Single Object

Combined Frequency and Time Domain Techniques for the Design of Compensator for Multivariable Nonlinear Control Systems

On an Extension of the Describing Function Method

Predictive Control based upon State Space Models

Feedback Linearizing Control of Vehicle Longitudinal Acceleration

Variable Structure System for Electric Arc Furnace Control

Variable Structure Observers for Linear and Nonlinear Uncertain Systems

On Robustness Analysis in the Control of Nonlinear Systems

Analyzing the Chaotic Behavior of the Logistics Equation Represented as a Marked Point Process

Dynamic Feedback Linearization of a Hydraulic Valve-Actuator Combination

State Estimation and Optimal Control of Nonlinear Continuous Fermentation Processes

Detection, Identification and Estimation of Surface Damage/Actuator Failure for High Performance Aircraft

Threshold Computations for Detection of Failures in SISO Systems with Transfer Function Errors

A Hyperstable Model-Following Flight Control System Used for Reconfiguration Following Aircraft Impairment

Automated Design of Continuously-Adaptive Control: The "Super-Controller" Strategy for Reconfigurable Systems

Application of Supercontroller to Fighter Aircraft Reconfiguration

Variable Structure Control of Decoupleable Systems and Attitude Control of Spacecraft in Prescence of Uncertainty

Robust Control Strategy for Take-Off Performance in a Windshear

SIRTF Controller Simulation: Instability Masked by Numerical Integration

Scheduling Turbofan Engine Control Set Points by Semi-Infinite Optimization

Multiple-Model Parameter-Adaptive Control for In-Flight Simulation

Approximation Schemes for an Aeroelastic-Control System

A Minimal Realization Algorithm for Flight Control Systems

How Neural Networks Factor Problems of Sensory-Motor Control

On the State Space of the Binary Neural Network

Implementation of an Adaptive Visually-Guided Neural Controller for Single Postures

A Neural Network for Planning Hand Shapes in Human Prehension

Learning to Control an Inverted Pendulum with Connectionist Networks

Adaptive Load Balancing Between Mobile Robots Through Learning in an Artificial Neural System

Array Optimization and its Application to Control Problems

Dynamical Boundary Control of Two-Dimensional Wave Equations: Vibrating Membrane on General Domain

On the Stability Testing of Time Delay Systems

Discrete Equivalent of Multivariable Plants with Input and Output Delays

Stability of Fast Periodic Systems with Time Lags

Applying Matrix Methods to Optimal Control of Distributed Parameter Systems

An Exact Riccati Equation Solution for Optimal Control of a Flexible Beam with a Quadratic-Like Cost Functional

Comparison Methods for Impulsely Perturbed Delay-Differential Control Systems

Parameter Identification of Diffusion Equation

Application of Advanced Controls to a Refinery Fluid Catalytic Cracking Unit

Internal Model Control of an Industrial Extruder

On a minimax approach to robust controller synthesis and model selection

Tuning and Sensitivity Study for Model Predictive Control

Optimal Self-Tuning of PID Controllers

Design of a Parallel Kalman Filter with Variable Forgetting Factors

Alternative Control Laws for Automotive Active Suspensions

Active Four-Wheel-Steering Design for an Advanced Vehicle

Design and Analysis of a Transmission Hydraulic System for an Engine-Flywheel Hybrid-Vehicle

A/F Estimation from Internal Combustion Engine Cylinder Pressure Using Fast Fourier Transform Descriptors

On-Board Real Time Failure Detection and Diagnosis of Automotive Systems

Performance Sensitivity of an Actively Damped Vehicle Suspension to Feedback Variation

A Control-Oriented Model of Cylinder Pressure in Internal Combustion Engines

Introduction to a Showcase of Adaptive Controller Designs

Robust and Adaptive Pole Placement

Robust Adaptive Control Using Combined Direct and Indirect Methods

Performance Oriented Robust Adaptive Controller

Indirect Adaptive Control: An Integrated Approach

A Computer Study of Adaptive Control Systems

Applications of a New Approach to Adaptive Control

Polytopes of Polynomials with Zeros in a Prescribed Region

Characterization of the Hurwitz Region for Systems with Parametric Uncertainty

Robust Stability and Performance for Fixed-Order Dynamic Compensation via the Optimal Projection Equations with Guaranteed Cost Bounds

Stabilization of Linear Time-Varying Systems Strong, Simultaneous and Reliable Stabilization

New Results in Discrete-Time Loop Transfer Recovery

High gain observers applied to problems in disturbance attenuation, $H^{∞}-infinity$ optimization and the stabilization of uncertain linear systems

On Simultaneous Stabilization with Almost Disturbance Decoupling

A Robust Observer-Based Model-Following Control

Robust Output Feedback Stabilization of Discrete-Time Uncertain Dynamical Systems

1987 American Control Conference

1986 American Control Conference

1985 American Control Conference

1984 American Control Conference

1983 American Control Conference

1982 American Control Conference

Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design

Content Provider	IEEE Xplore Digital Library
Author	Yuan, Ban-San Book, Wayne J.
Copyright Year	1988
Description	Author affiliation: The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology (Yuan, Ban-San; Book, Wayne J.)
Abstract	Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.
Starting Page	102
Ending Page	107
File Size	387432
Page Count	6
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Adaptive control Robots Robust control Manipulator dynamics Stability analysis Robust stability Programmable control Pi control Proportional control Servomechanisms
Content Type	Text
Resource Type	Article

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