Systems, Models and Feedback: Theory and Applications: Proceedings of a U.S.-Italy Workshop in honor of Professor Antonio Ruberti, Capri, 15–17, June 1992

404 Pages·1992·11.56 MB·English

by  C. Bonivento

Progress in Systems and Control Theory
Volume 12
Series Editor
Christopher I. Byrnes, Washington University
Associate Editors
S.-I. Amari, University of Tokyo
B.D.O. Anderson, Australian National University, Canbena
Karl Johan Astrom, Lund Institute of Technology, Sweden
Jean-Pierre Aubin, EDOMADE, Paris
H.T. Banks, North Carolina State University, Raleigh
John S. Baras, University of Maryland, College Park
A. Bensoussan, INRIA, Paris
John Bums, Virginia Polytechnic Institute, Blacksburg
Han-Fu Chen, Academia Sinica, Beijing
M.H.A. Davis, Imperial College of Science and Technology, London
Wendell Fleming, Brown University, Providence, Rhode Island
Michel Fliess, CNRS-ESE, Gif-sur-Yvette, France
Keith Glover, University of Cambridge, England
Diederich Hinrichsen, University of Bremen, GeIUlany
Alberto Isidori, University of Rome
B. lakubczyk, Polish Academy of Sciences, Warsaw
Hidenori Kimura, University of Osaka
Arthur J. Keener, University of California, Davis
H. Kunita, Kyushu University, Japan
Alexander Kurzhansky, IIASA, Laxenburg, Austria and
Academy of Sciences, Russia
Harold J. Kushner, Brown University, Providence, Rhode Island
Anders Lindquist, Royal Institute of Technology, Sweden
Andrzej Manitius, George Mason University, Fairfax, Virginia
Clyde F. Martin, Texas Tech University, Lubbock, Texas
Sanjoy Mitter, Massachusetts Institute of Technology, Cambridge
Giorgio Picci, University of Padova, Italy
Boris Pshenichnyj, Glushkov Institute of Cybernetics, Kiev
H. J. Sussmann, Rutgers University, New Brunswick, New Jersey
T. J. Tarn, Washington University, Sl Louis, Missouri
V. M. Tikhomirov, Institute for Problems in Mechanics, Moscow
Pravin P. Varaiya, University of California, Berkeley
Jan C. Willems, University of Groningen, The Netherlands
W. M. Wonham, University of Toronto
Systellls, Models
and Feedback:
Theory and Applications
Proceedings of a U.S.-Italy Workshop
in honor of Professor Antonio Ruberti,
Capri, 15-17, June 1992
A.Isidori
T. J. Tam
Editors
Springer Science+Business Media, LLC 1992
Alberto Isidori Tzyh-Jong Tam
Department of Computer Department of Systems
and Systems Science Sciences and Mathematics
Universita di Roma "La Sapienza" Washington University
00184 Rome, Italy St. Louis, MO 63130
Library of Congress Cataloging-in-Publication Data
Systems, models, and feedback : theory and applications : proceedings
of a U.S.-Italy workshop in honor of Professor Antonio Ruberti,
Capri, 15-17 June 1992 I edited by Alberto !sidori, Tzuh-Jon;g Tarn.
p. cm. (Progress in systems and control theory; v. 12)
ISBN 978-1-4757-2206-2 ISBN 978-1-4757-2204-8 (eBook)
DOI 10.1007/978-1-4757-2204-8
1. System theory--Congresses. 2. Nonlinear control theory
-Congresses. 3. Feedback control systems--Congresses. 4. Ruberti,
Antonio. I. Isidori, Alberto. II. Tarn, Tzyh-Jong, 1937-
ill. Ruberti, Antonio. IV. Series.
Q295.S9564 1992 92-3321
003--dc20 CIP
Printed on acid-free paper.
© Springer Science+Business Media New York 1992
Originally published by Birkhauser Boston in 1992
Softcover reprint of the hardcover 1st edition 1992
All rights reserved. No part of this publication may be reproduced, stored in a retrieval
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addressed directly to Springer Science+Business Media, LLC .
ISBN 978-1-4757-2206-2
Camera-ready text prepared by the authors.
987654321
This book is dedicated to
Professor Antonio Ruberti
on the occasion
of his 65th birthday
TABLE OF CONTENTS
Robust Binary Control of Robotic Systems
C. Bonivento, C. Melchiorri, and R. Zanasi 1
Trajectory Tracking in Flexible Robot Arms
A. De Luca, F. NicoLO, and G. Ulivi. . . . ........ 17
Variable Structure, Bilinear and Intelligent Control
With Power System Application
R.R. Mohler, Y. Wang, R.R. Zakrzewski, and V. Rajkumar . . . . 35
On Modeling and Adaptive Control of Underwater Robots
A.K. Ramadorai and T.J. Tam. . . . . . . . . . . . . . 47
A Generalization of the Kalman-Yakubovic Lemma
A. V. Balakrishnan ........ 59
PSICO Today
S. Bittanti . . ................ 61
Pulse Driven Dynamical Systems
R. W. Brockett . . . . . . . . ... 73
Polynomial MMSE Deconvolution and its Duality with LQGR
L. Chisci and E. Mosca . . . . . . . . . . . . . . . . . . . . 81
Topics in 2D Systems Theory
E. Fornasini and G. Marchesini ................ 95
Complexity and Feedback
A. Lepschy and U. Viaro. 111
Point Estimation, Stochastic Approximation
and Robust Kalman Filtering
S. K. Mitter and J. C. Schick . . . . . . . 127
Canonical Representations of Nonlinear Discrete-Time Systems
S. Monaco and D. Normand-Cyrot . . . . . . . . . . . . 153
Stochastic Model Reduction By Aggregation
C. Picci .......... . 169
vii
Feedback in a Behavioral Setting
J.C. Willems . ....... . 179
Learning Techniques and Neural Networks for the Solution
of N-Stage Nonlinear Nonquadratic Optimal Control Problems
R. Zoppoli and T. Parisini . . . . . . . . . . . . . . . . 193
Shock Waves for Riccati Partial Differential Equations
Arising in Nonlinear Optimal Control
C. Byrnes and A. Jhemi ............ . 211
Robust Stability and Performance in the
Presence of Parametric and Norm Bounded Uncertainty
G. Fiorio, M. Milanese, and A. Vicino ...... . 229
Design and Comparison of Globally Stabilizing Controllers
for an Uncertain Nonlinear System
R.A. Freeman andP. V. Kokotovic 249
Nicely Nonlinear Modelling and Control
G. o. Guamabassi . . . . . . . . . . 265
Attenuation of Disturbances in Nonlinear Control Systems
A. ISMori . . . . . . . . . . . . . . . . . . . . . 275
The Construction of Optimal Linear and Nonlinear Regulators
A.J. Krener . . . . . . . . . . . . . . . . . . . . . 301
Feedback Systems Stabilizability in Terms of Invariant Zeros
G. Marro and A. Piazzi . . . . . . . . . . . . . . 323
High-Order Parameter Tuners for the Adaptive Control
of Linear and Nonlinear Systems
A.S. Morse . .................. . 339
New Differential Geometric Methods in Nonholonomic Path Finding
H.J. Sussmann . . . . . . . . . . . . . . . . . . . . . .. 365
Stability Regions for Differential Algebraic Systems
V. Venkatasubmmanian, H. Schiittler, and J. Zaborszky 385
viii
Preface
It is a great honor and privilege to have this opportunity of celebrating
the 65th birthday of Professor Antonio Ruberti by holding an International
Conference on Systems, Models and Feedback.
The conference, and this volume which contains its proceedings, is a
tribute to Professor Ruberti in acknowledgement of his major contributions
to System Theory, at a time in which this area was emerging and consolidat
ing as an independent discipline, his role as a leader of the Italian academic
community, his activity in promoting and fostering close scientific relations
between Italian and U.S. scholars in Systems and Control.
The format of this conference is inspired by a series of seminars initi
ated exactly twenty years ago under the direction of Professor Ruberti, in
Italy, and Professor R. R. Mohler, in the U.S. By bringing together many
authoritative talents from both countries, these seminars were instrumental
in promoting the expansion of System Theory in new areas, notably that
of Nonlinear Control, and were the key to successful scientific careers for
many of the younger attendants.
The papers contained in this volume are divided into three groups. The
first group is a set of papers dealing with advanced applications of Systems
and Control concepts. The second and third groups deal with selected
topics on the conference theme, i.e., Systems, Models and Feedback. In
order to facilitate the reading, we deemed it convenient to organize these
papers into two separate groups: one group includes contributions in the
broader area of Systems Theory and the other collects those papers whose
common focus is the design of Feedback control systems.
We wish to thank all the contributors to this volume for their outstand
ing work, which altogether provides a remarkable picture of how powerfully
System and Control Theory has developed in recent years. We also would
like to thank the funding agencies that have supported organization of the
conference: the Consiglio Nazionale delle Ricerce, the National Science
Foundation and the Universita di Roma "La Sapienza" .
A. Isidori, T. J. Tarn
Robust Binary Control
of Robotic Systems
C. BONIVENTO, C. MELCHIORRI, and R. ZANASI
Abstract
In the area of robust control, both the well-known Variable Structure
approach and its more recent generalization referred as Binary Con
trol Theory present interesting methodological properties but also
some applicative inconveniences. Among major drawbacks, prac
tical implementations of these control algorithms show undesirable
chattering behaviour -for Variable Structure System - or continuous
oscillations -for Binary Control -on the system variables. In this pa
per, experimental results obtained applying a new control technique
to the control of a robotic system are reported and discussed. The
main advantage of this technique, based on a Sliding Mode regulator
with an additional switching integral action, is that an arbitrary re
duction of the chattering phenomenon can be achieved maintaining
the robustness properties of the Sliding Mode approach. The results
are encouraging and comparatively interesting.
1. Introduction
During the last decade, noticeable interest has arisen concerning the
development of non-linear, robust control techniques, see [1]-[3], and their
application in robotics. Main reasons for this interest are the unmodeled
dynamics, such as friction, joint elasticity, mechanical flexibility, and the
highly non-linear, coupled dynamical effects usually present in a robotic
structure. Among the others, the Variable Structure System (VSS), [4], [5],
is one of the most promising approaches for its robustness characteristics,
simplicity of implementation, and compensation of non-linearities of the
controlled system. Details about some applications of this technique to the
control of manipulators may be found in [6]-[9]. On the other hand, the
VSS approach has also some drawbacks such us chattering and high control
activity. Except for particular cases, such as motor control using switching
electronic drives, these phenomena are highly undesirable because they can
excite high-frequency unmodeled dynamics and cause fast deterioration of
the system.
In the 1980's a general non-linear feedback design approach for stabi
lization of uncertain systems, the Binary Control method, was proposed
by S.V. Emelyanov and his co-workers, [10]-[12]. This approach aims to