Now showing items 21-40 of 229

  • [2012-04-24] Survey of the robust control of robots 

    Abdallah, Chaouki T.; Dorato, Peter; Jamshidi, M.
    Browse Conference Publications > American Control Conference, ... Page Help Survey of the Robust Control of Robots This paper appears in: American Control Conference, 1990 Date of Conference: 23-25 May 1990 Author(s): ...
  • [2012-04-24] Suboptimal strong stabilization using fixed-order dynamic compensation 

    Abdallah, Chaouki T.; Jacobus, M.; Jamshidi, M.; Dorato, Peter; Bernstein, D.
    This paper considers the problem of stabilizing a plant using a suboptimal stable compensator of fixed order. The resulting equations are a modified form of the optimal projection equations, with the separation principle ...
  • [2012-04-19] A positive-real design for robotic manipulators 

    Abdallah, Chaouki T.; Jordan, R.
    In this paper, we show that feedback-linearization in conjunction with the passivity property of rigid robots can guarantee the robustness of the closed-loop robotic system despite large uncertainties in the inertia matrix. ...
  • [2012-04-19] On the Robust Control of Uncertain Nonlinear Systems 

    Abdallah, Chaouki T.; Eras, A.
    In this paper we study the problem of controlling uncertain nonlinear systems. The uncertainty is considered to be dynamic and additive, and the nominal system is assumed to be feedback-linearizable. It is shown that the ...
  • [2012-04-24] Robust Control of Particle Accelerators 

    Abdallah, Chaouki T.; Johnson, W. Joel D.
    Abstract In this paper, we present a new technique for controlling the electric fields of an electron particle accelerator. This new scheme has greater stability and performance robustness than was previously achieved.
  • [2012-04-19] Design of strictly positive real, fixed-order dynamic compensators 

    Abdallah, Chaouki T.; Jacobus, M.; Jamshidi, M.; Dorato, Peter; Bernstein, D.
    The authors present sufficient conditions for the design of strictly positive real (SPR), fixed-order dynamic compensators. The primary motivation for designing SPR compensators is for application to positive real (PR) ...
  • [2012-04-19] Model following using multilayer perceptrons 

    Abdallah, Chaouki T.; Hush, Don; Horne, B.
    A model following controller is proposed for discrete nonlinear systems using a recursive multilayer perceptron (MLP). The MLP network contains dynamics and is able to minimize the error between the plant and a desired ...
  • [2012-04-19] Recursive neural networks for signal processing and control 

    Abdallah, Chaouki T.; Hush, Don; Horne, B.
    The authors describe a special type of dynamic neural network called the recursive neural network (RNN). The RNN is a single-input single-output nonlinear dynamical system with a nonrecursive subnet and two recursive subnets ...
  • [2012-04-19] Survey of robust control for rigid robots 

    Abdallah, Chaouki T.; Dawson, D.; Dorato, Peter; Jamshidi, M.
    Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity ...
  • [2012-04-19] SPR design using feedback 

    Abdallah, Chaouki T.; Dorato, Peter; Karni, S.
    In this paper we derive necessary and sufficient conditions for a square transfer matrix to be rendered Strictly-Positive-Real (SPR) using output feedback. These conditions are then related to the existence of stable inverse ...
  • [2012-04-19] Experimental implementation of MRAC for a Dc Servo Motor 

    Abdallah, Chaouki T.; Cerda, A.; Jordan, R.
    A hardware implementation of adaptive controllers using a digital signal processor (TMS320C25) is described. Two model reference adaptive control (MRAC) schemes are explored together with some of the practical problems ...
  • [2012-04-19] Extreme-point stability tests for discrete-time polynomials 

    Abdallah, Chaouki T.; Perez, F.; Docampo, D.
    The authors provide an extension to some robust stability results for discrete-time polynomials expressed directly in the coefficient domain by making use of extreme-point results for continuous-time polynomials. Specifically, ...
  • [2012-04-19] New extreme-point robust stability results for discrete-time polynomials 

    Abdallah, Chaouki T.; Perez, F.; Docampo, D.
    This paper provides some new extreme-point robust-stability results for discrete-time polynomials with special uncertainties in the coefficient space. The proofs, obtained using the barycentric coordinates, are simple and ...
  • [2012-04-19] Feasibility analysis of channel equalizers using Kharitonov-type results 

    Abdallah, Chaouki T.; Docampo, D.; Artis, A.; Perez, F.
    Necessary and sufficient conditions for determining the robust location of the roots of a family of polynomials are presented. This family appears when multipath fading channels are considered due to the uncertainty in the ...
  • [2012-04-19] Delayed positive feedback can stabilize oscillatory systems 

    Abdallah, Chaouki T.; Dorato, Peter; Benites-Read, J.; Byrne, R.
    This paper expands on a method proposed in [1] for stabilizing oscillatory system with positive, delayed feedback. The closed-loop system obtained is shown (using the Nyquist criterion) to be stable for a range of delays.
  • [2012-04-16] Power systems stabilization with feedback linearization 

    Abdallah, Chaouki T.; Kristjansson, Erlendur; Jamshidi, M.
    Input-state feedback linearization is discussed in this paper as a method for power system control. This method linearizes for a range of operating points and is more appropriate than the conventional methods since the ...
  • [2012-04-16] An application of gradient-like dynamics to neural networks 

    Abdallah, Chaouki T.; Howse, James W.; Heileman, Gregory L.
    This paper reviews a formalism that enables the dynamics of a broad class of neural networks to be understood. This formalism is then applied to a specific network and the predicted and simulated behavior of the system are ...
  • [2012-04-13] Filter design to guarantee convergence of the pseudolinear regression IIR adaptive algorithm 

    Abdallah, Chaouki T.; Perez-Gonzalez, F.
    In this paper we design a finite impulse response (FIR) filter to enforce the so-called strictly positive realness (SPR) condition in an adaptive infinite impulse response (IIR) filtering context. The paper results may ...
  • [2012-04-13] Bounding the frequency response for digital transfer functions: results and applications 

    Abdallah, Chaouki T.; Perez-Gonzalez, F.; Docampo, D.
    This paper introduces robust stability techniques for the computation of exact bounds for the frequency response of FIR and IIR digital filters in which the l∞ norm of the coefficients is bounded.
  • [2012-04-13] Robust lateral control of highway vehicles 

    Abdallah, Chaouki T.; Byrne, Raymond H.
    Vehicle lateral dynamics are affected by vehicle mass, longitudinal velocity, vehicle inertia, and the cornering stiffness of the tires. All of these parameters are subject to variation, even over the course of a single ...