NDLI: Adaptive tracking control of nonholonomic systems: an example

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Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)

Volume 5 - 1999

Volume 4 - 1999

Volume 3 - 1999

The 38th IEEE Conference on Decision and Control

Table of contents

Index of Authors, Chairpersons, and Organizers

From nonlinearity to nonlinearizability indices

A new inverse kinematics algorithm with path tracking capability under velocity and acceleration constraints

Lyapunov characterisations of input-output-to-state stability

Bounded controls, bounded output injection and the global stabilization of nonlinear interconnected systems via measurement feedback

Almost disturbance decoupling for a chain of power integrators perturbed by a lower-triangular vector field

A unified Lyapunov framework for stabilization and tracking of nonholonomic systems

Adaptive tracking control of nonholonomic systems: an example

A robustly stable output feedback saturated controller for the Boost DC-to-DC converter

Output regulation for linear systems with anti-stable eigenvalues in the presence of input saturation

Kinematic time-invariant control of a 2D nonholonomic vehicle

Trajectory planning for dextrous manipulation with rolling contacts

Manipulation problem of a ball between two parallel plates based on time-state control form

Chained form transformation algorithm for a class of 3-states and 2-inputs nonholonomic systems and attitude control of a space robot

Simple motion planning strategies for spherobot: a spherical mobile robot

Constructive necessary and sufficient conditions for strict triangularizability of driftless nonholonomic systems

General n-trailer, differential flatness and equivalence

Nonlinear adaptive control in the presence of unmodelled dynamics using neural networks

Neural-net-based nonlinear control for prevention of voltage collapse

Face recognition using radial basis function (RBF) neural networks

Infinity-norm torque minimization for redundant manipulators using a recurrent neural network

Robust and optimal control for robotic manipulator based on linear-parameter-neural-networks

Closing the loop through communication networks: the case of an integrator plant and multiple controllers

Robust control theory applied to ship maneuvering

On the control of the underactuated ship: a trajectory planning approach

How to have narrow-stripe semiconductor lasers self-pulsate

Erosion profile optimization in sputtering systems: a singular value decomposition (SVD) approach

Nonnegativity, reducibility, and semistability of mass action kinetics

Supervisory control of nondeterministic discrete event systems with driven events via masked prioritized synchronization

Initial investigations of hierarchical supervisory control for multi-agent systems

Reliable decentralized supervisory control of discrete event systems

Some issues concerning decentralized supervisory control with communication

Synchronised execution of discrete event models using sequential function charts

Decidability of single-rate hybrid Petri nets

On the existence of executions of hybrid automata

Dynamic scheduling of a system with two parallel servers: asymptotic policy in heavy traffic

Optimal timing and lot-sizing of jobs on a single machine

A scheduling problem for a pull manufacturing system: how to modify the c/spl mu/-rule for finite buffer capacities

Demand-driven, iterative capacity allocation and cycle time estimation for re-entrant lines

A scheduling problem for N competing queues with finite capacity

A suboptimal class of decentralized hedging production policies in single part-type, stochastic M-machine flow shop

Application of genetic algorithm to a large-scale scheduling problem for a metal mold assembly process

On the radius of parity interlacing property of plant family with parameter uncertainty

Simultaneous stabilization with near optimal LQR performance

Gain scheduling using the Youla parameterization

A negative result on piecewise quadratic Lyapunov functions for decay rate analysis

Synthesis of gain-scheduled controller for a class of LPV systems

Bounded robust control for state-dependent mismatched uncertainty

Robust stabilization of multi-parameter families of systems

A sequential SDP/Gauss-Newton algorithm for rank-constrained LMI problems

On the numerical solution of LMIs derived from the KYP lemma

Extended projection conditions for some structured LMI problems

Parameter dependent Lyapunov functions for a class of uncertain linear systems: an LMI approach

Robust H/sub /spl infin// filter design for uncertain discrete-time state-delayed systems: an LMI approach

LMI based minimax control under component-wise constraints on the inputs with application to an electric power steering system

Application of LMI concept to parameters adjustment of a PID controller

Stochastic approximation: rate of convergence for constrained problems, and applications to Lagrangian algorithms

The information matrix in control: computation and some applications

Stochastic approximation for function minimization under quantization error

State dependent jump models in optimal control

Backward stochastic differential equations and stochastic controls

Some methods of stochastic calculus for fractional Brownian motion

Estimating the variance in case of undermodeling using bootstrap

A transfer function approach to MIMO system identification

Structural identifiability: tools and applications

On parameter estimation of transfer function models

Recursive least squares with linear constraints

A robust stochastic identification algorithm in the presence of outliers

A probabilistic approach to model set validation

Multiple-agent probabilistic pursuit-evasion games

Aircraft conflict prediction and resolution using Brownian motion

Randomized algorithms for probabilistic aircraft conflict detection

A sample path approach for solving the ground-holding policy problem in air traffic control

Automated conflict resolution procedures for air traffic management

Peak-seeking control with application to formation flight

A hybrid control architecture for aggressive maneuvering of autonomous helicopters

A quadratically semi-global control approach for nonlinear systems

On certainty equivalence measurement feedback power gain control of nonlinear systems

Guaranteed cost control of uncertain nonlinear systems: a minimax approach

Robust nonlinear excitation control with L/sub 2/ disturbance attenuation for power systems

Robust stabilization of SISO non-minimum phase nonlinear systems

Robustification of backstepping against input unmodeled dynamics

ISS and integral-ISS disturbance attenuation with bounded controls

Set-point control of nonlinear systems with state and control constraints: a Lyapunov-function, reference-governor approach

On global properties of passivity based control of the inverted pendulum

General matching conditions in the theory of controlled Lagrangians

Asymptotic stability in energy preserving systems

Global asymptotic stabilization of an underwater vehicle using internal rotors

Stabilization of a nonlinear underactuated hovercraft

Variable constraint control of underactuated free flying robots-mechanical design and convergence

Results on converse Lyapunov functions from class-KL estimates

Characterizations of forward completeness

A /spl nu/-gap distance for uncertain and nonlinear systems

Continuous dependence of trajectories with respect to the input

A projection-type method for pseudomonotone variational inequality problems

A note on uniform boundedness of a class of positive systems

On the calculation of the feasibility boundary for differential-algebraic systems

An experimental verification of the reduced order transfer function of a piezoelectric laminate beam

Inversion of a physical model of a trumpet

On the dynamics of the escapement mechanism of a mechanical clock

Robust global control of fan noise in an acoustic duct using magnetic bearings

Integrated control of microactuators and integrated circuits: a new turning approach in MEMS technology

Nonlinear control of a half-bridge DC-AC converter: application to UPS

Dual-axis Maglev guiding system modeling and controller design for wafer transportation

On oscillations in cellular neural networks

Distributed decomposition architectures for neural decision-makers

A comparative study of different methods for realizing DFNN algorithm

Modelling of nonlinear stochastic dynamical systems using neurofuzzy networks

A recurrent neural network for optimizing a continuously differentiable objective function with bound constraints

Stability of switched systems with average dwell-time

Feedback insensitivity to small measurement errors

Hybrid control of a gasoline direct injection engine

On a class of switched, robustly stable, adaptive systems

Lie-algebraic conditions for exponential stability of switched systems

Switched nonlinear control of a VSTOL aircraft

Performance and robustness analysis of an H/sup /spl infin// based flow controller

Optimal solution to a team problem with information delays: an application in flow control for communication networks

The role of queue length information in congestion control and resource pricing

Classical control theory for congestion avoidance in high-speed Internet

A control theoretical approach to a window-based flow control mechanism with explicit congestion notification

Calculus of burstiness via the peakedness functional

A spectral test for observability and reachability of time-varying systems and the Riccati difference equation

On Kalman-Yakubovich-Popov lemma for stabilizable systems

Sequential and parallel algebraic Riccati equations solutions via ESST on the Schur method

A new solution of the Lyapunov equation

Complete parametric solution to the matrix equation AV+BW=EVJ+R

On iterative solvers of the matrix equation X+A/sup T/X/sup -1/A=I

Tracking domains for unstable plants with saturating-like actuators

A complete stability analysis of planar linear systems under saturation

On achieving L/sub p/ (l/sub p/) performance with global internal stability for linear plants with saturating actuators

Robust predictive control of input-saturated uncertain systems

Control of linear systems subject to input constraints: a polynomial approach. I. SISO plants

Stability of a MIMO reset control system under constant inputs

Hidden Markov filtering for a mean reverting interest rate model

Modeling and portfolio optimization for stock prices dependent on external events

Asset valuation with unhedgeable risks

Continuous time active portfolio management with a risk constraint

Stochastic impulse control for a consumption problem with fixed and proportional transaction costs

Estimation focus in system identification: prefiltering, noise models, and prediction

Controller validation based on an identified model

Identification of linear systems: a general framework for the theory

Safe estimate of sinusoidal signals for control applications

On the capability of feedback for controlling uncertain nonlinear systems

Algorithms for shear flow control and optimization

Emerging approaches to flow control in hydrodynamics

Reduced-order modeling and control of near-wall turbulent flow

Reduced-order dynamic models for control of reactive fluid-flows

Algorithms for feedback control of combustion oscillations

Stability enhancement by boundary control in 2D channel flow. I. Regularity of solutions

Inverse compensation for ferromagnetic hysteresis

Nonlinear control of incompressible fluid flows

Morphological control in desktop manufacturing by distributed attraction optimization methods

Adaptive distributed control of a parabolic system with spatially varying parameters

A necessary condition and a backstepping observer for nonlinear fault detection

On regularized numerical observers

Further results on high gain observers for nonlinear systems

On parity space and observer-based approaches for FDI in state affine systems

Observers design for a class of nonlinear systems with time-varying delay

Conversion of the kinematics of the n-trailer system into Kumpera-Ruiz normal form and motion planning through the singular locus

Controllability via chronological calculus

Singularities and continuous dependence of the steady-state solution

Preview-based output tracking for periodic switching systems

Projection singularities of extremals for planar systems

Versal deformations of linear optimal systems

A passivity-based control scheme for robotic grasping and manipulation

Supervisory switching control in robotic manipulation

Path planning for robotic hand/eye system to intercept moving object

Experimental study of compliant base manipulator control

External force control for underwater vehicle-manipulator systems

Optimal design of dynamic multi-axis force/torque sensor

Robust output tracking for strict-feedback systems using neural-net based approximators for nonlinearities

Robust formulation of a network control problem

Optimal biped walking with a complete dynamical model

LPV control of two dimensional wing flutter

Max-plus methods in partially observed H/sub /spl infin// control

Parametrized linear matrix inequalities for nonlinear discrete H/sub /spl infin// control

Instructional material and interactive modules for discrete event dynamic systems

Curriculum development in control of semiconductor manufacturing under an NSF combined research-curriculum grant

Dynamic adaptivity: enabling technology for emerging wireless systems

Well-posedness of linear complementarity systems

The nature of solutions to linear passive complementarity systems

Globally periodic behavior of switched flow networks with a cyclic switching policy

Allowing for over-saturation in robust switching control of a class of uncertain systems

Linear quadratic optimization for hybrid systems

Loss-based inference of multicast network topology

A robust identification algorithm for traffic models in telecommunications

Stochastic analysis for fluid queueing systems

Optimal assignment of jobs to processors under heavy traffic: bursty arrivals and requirements

On the value function of a priority queue

Stochastic analysis of stable marriages in combined input output queued switches

Robust parametric fault detection and isolation for nonlinear systems

Fundamental problems in fault detection and identification

Multiplicative fault isolation in linear systems

Fault detection using Luenberger-like observers

A geometric approach for fault detection and isolation in dynamic uncertain systems

Fault estimation for a class of nonlinear dynamical systems

Continuous-time deadbeat fault detection and isolation filter design

(J,J')-lossless factorization approach to H/sup /spl infin// control problems with infinite and finite j/spl omega/-axis zeros

An approach to non-standard J-spectral factorization by generalized algebraic Riccati equation

H/sub /spl infin// controller design for systems with circulant symmetry

Closed-loop structure of H/sup /spl infin// control

Algorithms for solving multidisk problems in H/sup /spl infin// optimization

H/sup /spl infin// preview tracking in output feedback setting

Volume 2 - 1999

Volume 1 - 1999

Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171)

Proceedings of the 36th IEEE Conference on Decision and Control

Proceedings of 35th IEEE Conference on Decision and Control

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Adaptive tracking control of nonholonomic systems: an example

Content Provider	IEEE Xplore Digital Library
Author	Lefeber, E. Nijmeijer, H.
Copyright Year	1999
Description	Author affiliation: Fac. of Math. Sci., Twente Univ., Enschede, Netherlands (Lefeber, E.)
Abstract	We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustrative example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not straightforward, since specifying the reference state-trajectory can be in conflict with not knowing certain parameters. Our example illustrates this difficulty and we propose a problem formulation for the adaptive state-feedback tracking problem that meets the natural prerequisite that it reduces to the state-feedback tracking problem if the parameters are known. A general methodology for solving the problem is derived.
Starting Page	2094
Ending Page	2099
File Size	497657
Page Count	6
File Format	PDF
ISBN	0780352505
ISSN	01912216
DOI	10.1109/CDC.1999.831228
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-12-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Control systems Wheels Tracking Trajectory State feedback Motion control Mechanical engineering Mobile robots
Content Type	Text
Resource Type	Article

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