The stability and robustness properties of the adaptive control scheme proposed by Sadegh Horowitz (1987) are stud ied. include global exponential L p input/output nonadaptive (i.e., fixed- parameter) system asymptotic scheme. Sufficient conditions for convergence estimated parameters to their true values also given. A computationally efficient adaptation that is a modified version original proposed. utilizes desired trajectory outputs, which can be calculated priori, instead actual joint...

Describes the design of an automated highway system (AHS) developed over past ten years in California PATH program. The AHS is a large, complex system, which vehicles are automatically controlled. and implementation required advances actuator sensor technologies, as well design, analysis, simulation, testing large-scale, hierarchical hybrid control systems. paper focuses on multilayer architecture some questions implementation. It discusses detail safety verification on-board vehicle...

A method is presented for nonlinear function identification and application to learning control. The control objective identify compensate a disturbance function. represented as an integral of predefined kernel multiplied by unknown influence Sufficient conditions the existence such representation are provided. Similarly, estimate generated estimate. Using time history plant, rule indirectly estimates updating It shown that converges actual asymptotically. Consequently, controller achieves...

A macroscopic traffic flow model, called the switching-mode model (SMM), has been derived from cell transmission (CTM) and then applied to estimation of densities at unmonitored locations along a highway. The SMM is hybrid system that switches among different sets if linear difference equations, or modes, depending on mainline boundary data congestion status cells in highway section. Using standard systems techniques, observability controllability properties modes have determined. Both...

Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms velocity fields; 2) designing controllers so that manipulator when under feedback control, interacts an energetically passive manner with its physical environment. Based on these two concepts, a new field controller is proposed which mimics behavior energy storage element, such as flywheel or spring. It stores releases while interacting manipulator, but does not generate...

This paper presents the design, fabrication and performance of an uncooled micro-optomechanical infrared (IR) imaging system consisting a focal-plane array (FPA) containing bi-material cantilever pixels made silicon nitride (SiNx) gold (Au), which serve as absorbers thermomechanical transducers. Based on wave optics, visible optical readout is designed to simultaneously measure deflections all beams in FPA project deflection map onto charge-coupled device (CCD) imager. The IR results suggest...

We have designed and tested the first polysilicon surface micromachined vibratory rate gyroscope that is sensitive to angular rotation about an axis normal plane of silicon chip, Z-axis.The Analog Devices, Inc. BiMEMS technology was used fabricate gyroscope, which has as a demonstrated minimum detectable signal 1 deg/sec/Hz 112 with performance projected improve 0.1 in second-generation design.Our design makes use electrostatics perfor mance considerably.Electrostatic frequency tuning sense...

A procedure for constructing and calibrating a detailed model of freeway by using VISSIM is presented applied to 15-mi stretch I-210 West in Pasadena, California. This test site provides several challenges microscopic modeling: high-occupancy vehicle (HOV) lane with an intermittent barrier, heavy connector, 20 metered on-ramps without HOV bypass lanes, three interacting bottlenecks. Field data used as input the were compiled from two separate sources: loop detectors on main line (PeMS)...

Learning control encompasses a class of algorithms for programmable machines such as robots which attain, through an iterative process, the motor dexterity that enables machine to execute complex tasks. In this paper we discuss use function identification and adaptive in learning controllers robot manipulators. particular, similarities differences between betterment schemes, repetitive schemes based on integral transforms. The stability convergence properties transforms are highlighted...

Four different algorithms used for cancellation of periodic disturbances are presented and compared. For each method, the theoretical advantages disadvantages, computational complexity, execution time, method implementation discussed. Experimental data from use these in compensating repetitive present tracking servo a computer disk drive presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

This paper presents a new adaptive control scheme for mechanical manipulators. Making use of the fundamental properties manipulator equations, an algorithm is developed compensating nonlinear term in dynamic equations and decoupling interaction among joints. A computer simulation study conducted to evaluate performance system composed manipulator, compensator/decoupling controller state feedback with integral action. Simulation results show that insensitive variations configurations payload.

The stability analysis of an adaptive control scheme for robotic manipulators, originally introduced by Horowitz and Tomizuka (1980), is presented in this paper. In the previous proof it was assumed that manipulator parameter variation negligible compared with speed adaptation. It shown key assumption can be removed introducing two modifications scheme: 1. Reparametrizing nonlinear terms dynamic equations as linear functions unknown but constant terms. 2. Defining Coriolis compensation term...

This paper presents adaptive add-on control algorithms for the conventional mode of operation MEMS z-axis gyroscopes. scheme is realized by adding an outer loop to a force-balancing that includes parameter estimation algorithm. The adaptation algorithm estimates angular rate, identifies and compensates quadrature error, may permit on-line automatic tuning. convergence resolution analysis show proposed prevents rate estimate from being contaminated while keeping ideal performance scheme.

A unified approach, based on Lyapunov theory, for synthesis and stability analysis of adaptive repetitive controllers mechanical manipulators is presented. This approach utilizes the passivity properties manipulator dynamics to derive control laws which guarantee asymptotic trajectory following, without requiring exact knowledge dynamic parameters. The overall controller consists a fixed PD action an and/or feed-forward compensations. nonlinear feedforward compensation adjusted utilizing...

This paper presents repetitive and adaptive motion control schemes for rigid-link robot manipulators, when the manipulator's joint velocities cannot be measured by system. The objective consists in tracking a prescribed desired trajectory. In case of control, trajectory is periodic it required that achieve through repeated learning trials. We assume inverse dynamics are totally unknown, except they can represented an integral product known differentiable kernel unknown influence function....

A new decoupled track-seeking controller for a dual-stage servo system of magnetic disk drive has been developed. The is applied to the with push-pull piezoelectric (PZT) microactuator and enables high-speed one-track seeking short-span track seeking. was designed in three steps: (1) voice coil motor (VCM) feedforward prevent overshoot response VCM actuator; (2) loop from reference signal PZT actuator order decouple system; (3) such that an output PES (position error signal) only follows...

We summarize principles of operation micromachined gyroscopes, analyze dynamics ideal and non-ideal systems, propose an approach for formulation solving problems control. The suggested uses active nonlinear feedback control drive compensation errors. Both non-adaptive adaptive strategies are presented. These can be used a broad class vibratory gyroscopes including those angle angular rate measurement.

In this paper, we use a cell transmission model based switching state-space to estimate vehicle densities and congestion modes at unmeasured locations on highway section. The mixture Kalman filter algorithm, which is sequential Monte Carlo method, employed approximately solve the difficult problem of inference with an unobserved discrete state. We propose scheme prevent risk weight underflow introduce forgetting. estimation results show that comparable accuracies can be achieved using either...

Freeway corridor traffic flow is limited by bottleneck flow. If the section upstream of a congested, will drop well below its capacity. A logical approach to maximizing recurrent create discharge immediately bottleneck. This paper proposes control strategy for combining variable speed limits (VSL) and coordinated ramp metering (CRM) design achieve this objective when can be represented as lane (or virtual lane) reduction. At each time step, VSL designed first, with mainline flow, on-ramp...

It is known that connected and autonomous vehicles are capable of maintaining shorter headway distances when they form platoons vehicles. Thus, such technologies can potentially increase the road capacities traffic networks. Consequently, it envisioned their deployment will also overall network mobility. In this paper, we examine validity expected impact, assuming drivers select routes selfishly, in networks with mixed vehicle autonomy, is, both regular We consider a nonatomic routing game...

In this paper, a control scheme for emergency braking maneuvers in automated highway systems and new online identification to determine the tire-road friction characteristics of vehicle are presented. The proposed controller determines required pressure master cylinder system achieve maximum deceleration during braking, based on estimation overall gain, given set parameter estimates. With persistence excitation, identified static map between tire longitudinal slip coefficient is guaranteed...

An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design fast convergence observer estimate velocity internal state friction model. unknown parameters estimated through parameter adaptation law. A Lyapunov-based estimator stabilizing controller achieve near maximum capability vehicle. Underestimation coefficient, very desirable...