CDC2000 Linear Systems with Saturating Actuators

Linear Systems with Saturating Actuators
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	SLQR/SLQG: An LQR/LQG Theory for Systems with Saturating Actuators Authors: Cevat Gökçek, Pierre T. Kabamba, Semyon M. Meerkov, Volume: 1, Page 3236 Paper number 1181 Abstract: An extension of the LQR/LQG methodology to systems with saturating actuators, referred to as SLQR/SLQG, is obtained. The development is based on the method of stochastic linearization. Using this method and the Lagrange multiplier technique, solutions to the SLQR and SLQG problems are derived. These solutions are given by Riccati and Lyapunov equations coupled with two transcendental equations. It is shown that, under standard stabilizability and detectability conditions, these equations have a unique solution, which can be found by a simple bisection algorithm. When the level of saturation tends to infinity, these equations reduce to their standard LQR/LQG counterparts. CD001181.PDF (From Author) TOP Output Regulation For General Linear Systems With Saturating Actuators Authors: Tingshu Hu, Zongli Lin, Volume: 1, Page 3242 Paper number 1709 Abstract: This paper studies the classical problem of output regulation for linear systems subject to actuator saturation. The asymptotically regulatable region, the set of all initial conditions of the plant and the exosystem for which output regulation is possible, is characterized in terms of the null controllable region of the anti-stable subsystem of the plant. Feedback laws are constructed that achieve regulation on the asymptotically regulatable region. These feedback laws are constructed from the stabilizing feedback laws in such a way that a stabilizing feedback law that achieves a larger domain of attraction leads to a feedback law that achieves output regulation on a larger subset of the asymptotically regulatable region and, a stabilizing feedback law on the entire asymptotically null controllable region leads to a feedback law that achieves output regulation on the entire asymptotically regulatable region. CD001709.PDF (From Author) TOP Delay-Dependent Stabilization Of Time-Delay Systems With Saturating Actuators Authors: Sophie Tarbouriech, Pedro L. D. Peres, Germain Garcia, Isabelle Queinnec, Volume: 1, Page 3248 Paper number 1193 Abstract: Sufficient delay-dependent conditions for the stabilization of linear continuous-time systems with time-delay in the state, additive bounded disturbances and limited actuators are given. From these conditions, a region inside which the stability of the closed-loop saturated system is assured and a saturating state feedback control law are obtained. CD001193.PDF (From Author) TOP Null Controllability And Stabilizability Of Linear Systems Subject To Asymmetric Actuator Saturation Authors: Tingshu Hu, Achilleas Pitsillides, Zongli Lin, Volume: 1, Page 3254 Paper number 1891 Abstract: This paper generalizes our recent results on the null controllable regions and the stabilizability of exponentially unstable linear systems subject to symmetric actuator saturation. The description of the null controllable region carries smoothly from the symmetric case to the asymmetric case. As to stabilization, we have to take a quite different approach since the development of our earlier relies mainly on the symmetric property of the vector field. Specifically, in this paper, we construct a Lyapunov function from a closed trajectory to show that this closed trajectory forms the boundary of the domain of attraction for a planar anti-stable system under the control of a saturated linear feedback. If the linear feedback is designed by the LQR method, then there is a unique limit cycle which forms the boundary of the domain of attraction. We further show that if the gain is increased along the direction of the LQR feedback, then the domain of attraction can be made arbitrarily close to the null controllable region. This design can be utilized to construct state feedback laws for higher order systems with two exponentially unstable poles. CD001891.PDF (From Author) TOP Local Stabilization of Linear Systems Under Amplitude and Rate Saturating Actuators Authors: João Manoel Gomes da Silva Jr., Sophie Tarbouriech, Volume: 1, Page 3260 Paper number 9206 Abstract: This paper addresses the problem of local stabilization of linear systems subject to control amplitude and rate saturation. Considering the actuator represented by a first order system subject to input and state saturation, a condition for the stabilization of an a priori given set of admissible initial states is formulated from certain saturation nonlinearities representation and quadratic stability results. From this condition an algorithm based on the iterative solution of LMI-problems is proposed in order to compute the control law. CD009206.PDF (From Author) TOP State Feedback Stabilization of Single Input Systems Through Actuators with Saturation and Deadzone Characteristics Authors: I-Kong Fong, Chih-Chin Hsu, Volume: 1, Page 3266 Paper number 1105 Abstract: Actuators with the saturation and deadzone characteristics are common in control systems, and often have adverse effects on the system performance or stability. For single input systems equipped with such actuators, we propose methods for synthesizing state feedback gains that can stabilize the systems. The goals are to get a large stability region under the limitation of saturation, to minimize the effect of deadzone, and to ensure reasonable decay rates of state trajectories. Due to the adopted linear matrix inequality formulations, the proposed methods are easy to apply because effective computation tools are readily available. CD001105.PDF (From Author) TOP Stabilization of Linear Systems with Input Constraints Authors: Li Qiu, Daniel E. Miller, Volume: 1, Page 3272 Paper number 1327 Abstract: We consider the control of an unstable LTI system with a constraint on the control input. We show that for every compact subset of the null-controllable region of the system, we can constructively design a nonlinear state feedback controller which ensures the internal exponential stability of the closed loop system, i.e., the state and control signals go to zero exponentially, for every initial condition in this subset. Two controllers are explicitly constructed: one has the property of being continuous and homogeneous, the other one can be considered as a one step ahead model predictive control (MPC) scheme with a special cost function. CD001327.PDF (From Author) TOP