proceedingsof the 34th ieee conference
TRANSCRIPT
PROCEEDINGS OF THE
34th IEEE CONFERENCE ON
DECISION AND CONTROL
December 13-15,1995
NEW ORLEANS HILTON RIVERSIDENEW ORLEANS, LOUISIANA, USA
IEEE
VOLUME 4 OF 4
Grand Ballroom
BODE LECTURE
11:00-12:00
Balancing Stability and Optimality in a Complex World
Narendra, Kumpati S. Yale Univ.
Chair: Derek P. Atherton, President, IEEE CSS
Co-Chair:Panos J. Antsaklis, General Chair, 34th CDC
FM01Discontinuities, Singularities and New Geometric
Structures in Control Design of Nonlinear Systems II
Chair: Chitour, Yacine Rutgers Univ.
Chair: Sussmann, Hector J. Rutgers Univ.
Org: Chitour, Yacine Rutgers Univ.
Org: Sussmann, Hector J. Rutgers Univ.
1:30 (I)On the geometry of optimal control and geodesic flow... 3283
Bloch, Anthony M. Ohio State Univ.
Crouch, Peter E. Arizona State Univ.
1:50 (I)Semigroup actions on homogeneous spaces: control sets
and stabilizer subgroups 3289
Mittenhuber, Dirk A. Louisiana State Univ.
2:10 (I)Finite singularities of nonlinear systems 3295
Jouan, Philippe CNRS
Gauthier, Jean-Paul CNRS
2:30 (I)
Composition and division theorems and controlled
decomposition 3300
Ramakrishna, Viswanath Princeton Univ.
Control system design for the SPICES smart structure
demonstrations *
Flamm, David S. SRI International
Heck, L. P. SRI International
Titterton, P. J. SRI International
Nowlin, William C. SRI International
Olkin, J. A. SRI International
Chou, Kenneth C. SRI International
2:30
Semi-active control of friction dampers 3331
Dupont, Pierre E. Boston Univ.
Stokes, Ann Boston Univ.
2:50
A comparison of scaled Popov and maximum entropycontroller synthesis for flexible structures 3337
Sparks, Andrew G. Univ. of MichiganBernstein, Dennis S. Univ. of Michigan
3:10
A system identification algorithm for rigid body modesystems 3343
Ohnishi, Katsumi Metron, Inc.
Grand Salon B-7
FM03
Stochastic Analysis, Control and Applications II
Chair: Elliott, Robert J. Univ. of Alberta
Chair: Zhou, Xun Yu The Chinese Univ. of Hong KongOrg: Zhou, Xun Yu The Chinese Univ. of Hong KongOrg: Elliott, Robert J. Univ. of Alberta
2:50 (I)Shortest 3-dimensional paths with a prescribed curvature
bound 3306
Sussmann, Hector J. Rutgers Univ.
3:10 (I)Some control problems for the pendulum 3313
Piccoli, B. S.I.S.S.A.-I.S.A.S.
Rosedown
Oak Ridge National Lab.
Inst. Superieur d'Auto.
FM02Flexible Structures
Chair: Schoenwald, David A.
Chair: Georges, Didier
1:30
The use of observability and controllability Gramians or
functions for optimal sensor and actuator location in finite-
dimensional systems 3319
Georges, Didier Inst. Superieur d'Auto.
1:30 (I)
Asymptotic study of estimation in filtering for linear systemswith jump parameters 3349
Dufour, Francois Lab. Signaux et SystemesElliott, Robert J. Univ. of Alberta
Tsoi, Allanus H. Hong Kong Univ. of Science & Tech.
1:50 (I)Backward stochastic differential equations and applications...
Pardoux, Etienne Univ. de Provence
2:10 (I)Forward-backward stochastic differential equations and their
applications in finance 3354
Ma, Jin Purdue Univ.
2:30 (I)Numerical methods for the stochastic adaptive control of aninvestment and consumption model with transaction fees
3360
Duncan, Tyrone E. Univ. of Kansas
Pasik-Duncan, Bozenna Univ. of Kansas
Zane, Omar Univ. of Kansas
1:50
Inversion of flexible manipulator dynamics via the trajectorypattern methods 3325
Khorrami, Farshad Polytechnic Univ.
Lewinsohn, Joseph A. Polytechnic Univ.
Rastegar, J. State Univ. of New York
Jain, Sandeep Polytechnic Univ.
2:50 (I)Finite difference methods and Markov chain approximation toa class of robust control problems 3366
Yin, George Wayne State Univ.
Miao, S. Wayne State Univ.
Zhang, Qing Univ. of Georgia
3:10 (I)A queueing approach to manufacturing flow control models
3372
Hu, Jian-Qiang Boston Univ.
_____
FM04
Sliding Mode Observers and their ApplicationsChair: Drakunov, Sergey V. Tulane Univ.
Chair: Misawa, Eduardo A. Oklahoma State Univ.
Org: Drakunov, Sergey V. Tulane Univ.
Org: Misawa, Eduardo A. Oklahoma State Univ.
1:30 (I)Sliding mode observers. Tutorial.
Utkin, Vadim
Drakunov, Sergey V.
3376
Ohio State Univ.
Tulane Univ.
2:10
A new pole-placement regulator design method 3408
Keviczky, Laszlo Hungarian Academy of Sciences
Banyasz, Csilla Hungarian Academy of Sciences
2:30
On the data based time varying LQG controllers via Choleskyfactorizations 3414
Nordstrom, Kjell Uppsala Univ.
Karlsson, Erlendur Uppsala Univ.
Malmgren, Anders Uppsala Univ.
2:50
Applications of minimum principle for continuous-time
partially observable risk-sensitive control problems 3420
Charalambous, Charalambos D. Idaho State Univ.
Hibey, J. L Univ. of Colorado at Denver
1:50 (I)A sliding mode controller-observer for DC-to-DC powerconverters: a pasivity approach 3379
Sira-Ramirez, Hebertt J. Edificio Residencias El Roble
Ortega, Romeo Univ. de Tech. de CompiegnePerez-Moreno, Rafael A. Univ. de Los Andes
Garcia-Esteban, Mauricio Univ. Nacional Auto, de Mexico
?:10*(l)Comparison of the sliding observer to several state
estimators using a rotational inverted pendulum 3385
Thein, May-Win L. Oklahoma State Univ.
Misawa, Eduardo A. Oklahoma State Univ.
2:30 (I)Vehicle steering system state estimation using sliding modeobservers 3391
Krishnaswami, Vasanth Ohio State Univ.
Rizzoni, Giorgio Ohio State Univ.
2:50 (I)Engine load torque estimation using nonlinear observers
3397
Univ. of Wisconsin
Univ. of Wisconsin
Moskwa, John J.
Pan, Chung-Hung
3:10 (I)Discrete-event sliding mode observers for continuous-time
systems 3403
Drakunov, Sergey V. Tulane Univ.
Utkin, Vadim Ohio State Univ.
Marlborough A
FM05LQG Control and Regulator DesignChair: Miyasato, Yoshihiko The Inst, of Statistical Math.
Chair: Beghi, Alessandro Univ. di Padova
1:30
Discrete-time LQG optimal control with actuator noise
intensity related to actuator signal variance 3406
Beghi, Alessandro Univ. di Padova
1:50
Robustness of a parameterized constrained to optimal control
problem*
Zhu, Siquan Q. North Carolina A&T State Univ.
Michigan State Univ.
Univ. of Virginia
3:10
State feedback covariance control for linear finite signal-to-noise ratio models 3423
Shi, Guojun Purdue Univ.
Skelton, Robert E. Purdue Univ.
Jasperwood
FM06
Adaptive Control IV
Chair: Khalil, Hassan K.
Chair: Tao, Gang
1:30
Adaptive control of systems with nonsmooth input andoutput nonlinearities 3429
Tao, Gang Univ. of Virginia
1:50
Adaptive dead time compensation 3435
Brown, Lyndon J. Univ. of Illinois
Meyn, Sean P. Univ. of Illinois
2:10
Adaptive control of continuous-time overmodeled plants3438
Kreisselmeier, Gerhard Univ. of Kassel
Lozano, Rogelio Univ. de Tech. de Comp.-URA CNRS 817
2:30
Comparison of a nonlinear adaptive controller with certainty-equivalence type adaptive controllers
. 3444
Zhang, Youping Univ. of Southern California
2:50
A modified discrete time model reference adaptive control
scheme for transient performance improvement 3446
Xie, Shoulie Northeastern Univ.
Chai, Tianyou Northeastern Univ.
3:10
Performance improvement in indirect adaptive control
scheme in the presence of disturbances 3448
Stotsky, Alexander A. Academy of Sciences of Russia
Prince of Wales
Washington State Univ.
Massachusetts inst. of Tech.
FM07
Power SystemsChair: Venkatasubramanian,Chair: ilic, Marija
1:30
Advanced generation control with economic dispatch ....3450
Eidson, B. Massachusetts Inst, of Tech.
Ilic, Marija Massachusetts Inst, of Tech.
1:50
Time-scale decomposition in voltage stability analysis of
power systems 3459
Vournas, C. D. National Tech. Univ.
Sauer, P. W. Univ. of Illinois at Urbana-ChampaignPai, M. A. Univ. of Illinois at Urbana-Champaign
2:10
Hard-limit induced chaos in a single-machine-infinite-buspower system 3465
Ji, Weijun Washington State Univ.
Venkatasubramanian, V. Washington State Univ.
2:30
Passivity-based controllers for the stabilization of DC-to-DC
power converters 3471
Sira-Ramirez, Hebertt J. Edificio Residencias El Roble
Ortega, Romeo Univ. de Tech. de Compiegne
2:50
On the dynamics of large nonlinear systems with saturation
on signals and states 3477
Venkatasubramanian, V. Washington State Univ.
Jiang, Xin Washington Univ.Schattler, Heinz Washington Univ.
Zaborszky, John Washington Univ.
3:10
Effects of torsional dynamics on nonlinear generator control:
Part II. 3479
Allen, E. H. Massachusetts Inst, of Tech.
Chapman, Jeff W. Massachusetts Inst, of Tech.
Ilic, Marija Massachusetts Inst, of Tech.
Grand Salon B-10
Control
Univ. Catholique de Louvain
Integrated Systems Inc.
FM08
Identification for Robust
Chair: Gevers, Michel
Chair: Kosut, Robert L.
1:30
The experimental validation of robust control models for a
heat experiment: a linear matrix inequality approach 3486
Dullerud, Geir E. California Inst, of Tech.
Smith, Roy S. Univ. of California at Santa Barbara
1:50
Uncertainty model unfalsification: a system identification
paradigm compatible with robust control design 3492
Kosut, Robert L. Integrated Systems Inc.
2:10
Control relevant identification for H-infinity-norm based
performance specifications 3498
de Callafon, Raymond A. Delft Univ. of Tech.
Van den Hof, Paul M. J. Delft Univ. of Tech.
2:30
Uncertainty bounds for parameter identification with small
sample sizes 3504
Spall, James C. The Johns Hopkins Univ.
2:50
Block recursive bounding in set membership identification
3516
Chisci, Luigi Univ. di Firenze
Garulli, A. Univ. di Firenze
Vicino, Antonio Univ. di Siena
Zappa, G. Univ. di Firenze
3:10
Connecting parameter set estimation to robust control design3522
DeVilbiss, Stewart L. Air Force Inst, of Tech.
Yurkovich, Stephen The Ohio State Univ.
Grand Salon B-12
FM09Smart Structures: New Vistas in Intelligent Control
Chair: Pajunen, Grazyna A. Florida Atlantic Univ.
Chair: Sastry, Shankar S. Univ. of California at BerkeleyOrg: Pajunen, Grazyna A. Florida Atlantic Univ.
Org: Sastry, Shankar S. Univ. of California at Berkeley
1:30 (I)Electrorheological dampers and semi-active structural control
3528
McClamroch, N. Harris Univ. of MichiganGavin, Henri P. Univ. of Michigan
1:50 (I)State space modeling and control of MIMO smart structures.
3534
Butler, Robert Univ. of Missouri-Rolla
Rao, Vittal S. Univ. of Missouri-Rolla
2:10 (I)Shape memory alloy actuator controller design for tactile
displays 3540
Howe, Robert D. Harvard Univ.
Kontarinis, Dimitrios A. Harvard Univ.
Peine, William J. Harvard Univ.
2:30 (I)Identification position sensing and control of an
electrostatically-driven polysilicon microactuator 3545
Cheung, Patric Univ. of California at BerkeleyHorowitz, Roberto Univ. of California at BerkeleyHowe, R. T. Univ. of California at Berkeley
2:50 (I)Simultaneous structure and control design for a flexible
weapon pointing system actuated by active materials 4374
Khorrami, Farshad Polytechnic Univ.
Rastegar, J. State Univ. of New York
3:10 (I)Model reference control of vibrations in flexible smart
structures 3551
Gopinathan, Muraii Florida Atlantic Univ.
Pajunen, Grazyna A. Florida Atlantic Univ.
Marlborough B
FM11
Frequency Domain TechniquesChair: Bredemann, Mike V. Sandia National Labs.
Chair: Djaferis, Theodore E. Univ. of Massachusetts
1:30
Frequency weighted balanced reduction technique: ageneralization and an error bound 3576
Sreeram, Venkatappa Univ. of Western Australia
Anderson, Brian D. O. Australian National Univ.
Oak Alley 1:50
FM10Automotive ApplicationsChair: Thompson, David F. Univ. of Cincinnati
Chair: Howze, Jo W. Texas A & M Univ.
1:30
Robust parameterized controller design with an application to
exhaust gas recirculation (EGR) system 3557
Olbrot, Andrzej W. Wayne State Univ.
Berri, Mohamad H. Wayne State Univ.
Asik, Joseph R. Ford Motor Co.
1:50
Some structural aspects of vehicle dynamics and their
implications on control 3561
Unyelioglu, Konur Alp Ohio State Univ.
Ozguner, Umit Ohio State Univ.
Winkelman, Jim Ford Motor Co.
2:10
Nonlinear design of active suspensions 3567
Lin, J. S. Univ. of California at Los AngelesKanellakopoulos, I. Univ. of California at Los Angeles
2:30
A pseudo-feedback linearization formulation for uncertain wet
friction 3570
Thompson, David F. Univ. of Cincinnati
2:50
Control of independent rear wheel drive vehicle 4380
Shavrin, Pavel A. Togliatti Polytech. Inst.
3:10
Experimental results in robust lateral control of highwayvehicles 3572
Byrne, Raymond H. Sandia National Labs.
Abdallah, Chaouki T. Univ. of New Mexico
Model validation in the frequency domain 3582
Morris, John C. California Inst, of Tech.
Newlin, Matthew California Inst, of Tech.
2:10
Order estimation for linear time-invariant systems usingfrequency domain identification methods 3588
Rolain, Yves Vrije Univ. Brussels
Schoukens, J. Vrije Univ. Brussels
Pintelon, R Vrije Univ. Brussels
2:30
A frequential approach to the unknown input observer design3594
Hayar, M. Univ. de NancyZasadzinski, Michel Univ. de NancyDarouach, Mohamed Univ. de Nancy
2:50
Frequency response of generalized sampled-data hold
functions 3596
Braslavsky, Julio H. Univ. of Newcastle
Middleton, Rick H. Univ. of Newcastle
Freudenberg, James S. Univ. of Michigan
3:10
FIT synthesis for robust performance: multiple objectives3602
Raytheon Co.Boudreau, D. P.
Djaferis, Theodore E. Univ. of Massachusetts
Grand Salon A-3
Univ. of Southern California
Univ. of Newcastle
FM12Linear Matrix Inequalities II
Chair: Safonov, Michael G.
Chair: de Souza, Carlos E.
1:30
An LMI approach to robust H-infinity filtering for linear
systems 3608
Li, Huaizhong Univ. of Newcastle
Fu, Minyue Univ. of Newcastle
1:50
LMI approach to delay-dependent robust stability andstabilization of uncertain linear delay systems 3614
Li, Xi Univ. of Newcastle
de Souza, Carlos E. Univ. of Newcastle
2:10
Piecewise Lyapunov functions for robust stability of linear
time-varying systems 3620
Xie, Lin Univ. of Newcastle
Shishkin, Serge L. Russian Academy of SciencesFu, Minyue Univ. of Newcastle
2:30
All solutions to the positive real version of the Parrot's
problem 3622
Huang, C.H. Univ. of Southern California
Turan, Levent Univ. of Southern California
Safonov, Michael G. Univ. of Southern California
2:50
Quadratically constrained linear-quadratic optimization of
linear output feedback: a linear matrix inequalities approach3624
Cygankov, A. Iowa State Univ.
Megretski, Alexandre Iowa State Univ.
3:10
Improved linear matrix inequality conditions for gainscheduling 3626
Scorletti, Gerard Ecole Superieure D'Electricite
El Ghaoui, Laurent M. ENSTA
MagnoliaFM13Control of Queues
Chair: Dai, LiyiChair: Vazquez-Abad, Felisa J.
Washington Univ.
Univ. of Montreal
1:30
Decentralized asynchronous optimization of stochasticdiscrete event systems 3632
Vazquez-Abad, Felisa J. Univ. of MontrealCassandras, Christos G. Univ. of Massachusetts
1:50
On the stationary dynamics of parallel queues with random
server connectivities 3638
Bambos, Nicholas Univ. of California at Los AngelesMichailidis, George Univ. of California at Los Angeles
2:10
An entropy approach to queueing control 3644
Phillis, Yannis A. Technical Univ. of Crete
Kouikoglou, Vassilis S. Technical Univ. of Crete
2:30
Call admission and recurrent aggregate traffic control in ATMnetworks 3646
Polotski, Vladimir Univ. of Montreal
Shukhman, Boris V. McGill Univ. & CIAR
2:50
A control policy for fork-join queueing network 3648
Liu, Ruihua Nankai Univ.
Tu, Fengsheng S. Nankai Univ.
FM14
Multiobjective Robust Control II
Chair: Dorato, Peter
Chair: Sznaier, Mario
Org: Sznaier, Mario
Org: Dorato, Peter
Grand Salon B-9
Univ. of New Mexico
Penn State Univ.
Penn State Univ.
Univ. of New Mexico
1:30 (I)Multiobjective suspension control problem 3652De Jager, Bram A G Eindhoven Univ. of Tech.
1:50 (I)Robust H-infinity almost disturbance decoupling 3658
Stoustrup, Jakob Tech. Univ. of Denmark
Niemann, Henrik Tech. Univ. of Denmark
Saberi, Ali Washington State Univ.
2:10 (I)Hierarchical optimization in H-infinity 3664
Halikias, George D. Univ. of Leeds
Jaimoukha, Imad M. Imperial College of Sci., Tech. & Med.
2:30 (I)A linear matrix inequality approach to discrete-time mixed
I-1/H-infinity control problems 3670
Chen, Xin Rensselaer Polytechnic Inst.Wen, John T. Rensselaer Polytechnic Inst.
2:50 (I)Convexity vs. compensator order for the discrete-time, mixednorm control problem 3676
Jacques, David R. Air Force Inst, of Tech.
Ridgely, D. Brett Air Force Inst, of Tech.
3:10 (I)MIMO optimal control design: interplay of the H-2 and the
L-1 norms 3682
Salakapa, Murti V. Univ. of California at Santa Barbara
Dahleh, Moh. A. Univ. of California at Santa Barbara
Voulgaris, Petros G. Univ. of Illinois at Urbana-Champaign
Elmwood
FM15Control II
Chair: Tarn, Tzyh-JongChair: Paden, Brad
Washington Univ.
Univ. of California at Santa Barbara
1:30
Pole placement for time-varying systems by gradient flows....
3688
Paul, Steffen Tech. Univ. of Munich
1:50
Robust pole assignment via dependency structured
perturbations using real stability radii 3690
Chang, Yeong-Hwa Univ. of Texas at Austin
Wise, Gary Univ. of Texas at Austin
3:10
Single machine scheduling with non-linear costs: necessaryconditions for optimality in the transform domain 3650
Milito, Rodolfo AT&T Bell Labs
2:10
A simple proof that n < m*p implies generic eigenvalueassignability by real memoryless output feedback 3696
Willems, Jan C. Univ. of Groningen
2:30
A design methodology using concurrent eigenstructureassignment 3700
Choi, Jae Weon Seoul National Univ.
Lee, Jang Gyu Seoul National Univ.
Kim, Youdan Seoul National Univ.
Kang, Taesam Hoseo Univ.
2:50
A multiscale approach to the control of MIMO systems.. 3706
Chou, Kenneth C. SRI International
Guthart, Gary SRI International
Flamm, David S. SRI International
3:10
Regulator theory for switched systems 3712
Devasia, Santosh Univ. of Utah
Paden, Brad Univ. of California at Santa Barbara
Rossi, Carlo Univ. of Bologna
Grand Salon A-4
FM16
Control and Identification of Hybrid Distributed
Parameter SystemsChair: Bums, John A. Virginia Polytechnic Inst. & State Univ.
Chair: King, Belinda B. Oregon State Univ.
Org: Burns, John A. Virginia Polytechnic Inst. & State Univ.
Org: King, Belinda B. Oregon State Univ.
1:30 (I)H-infinity control of noise in a 3-D structural acoustic system
3719
Banks, H. T.
Demetriou, M. A.
Smith, Ralph C.
North Carolina State Univ.
North Carolina State Univ.
Iowa State Univ.
1:50 (I)On active control of flow induced vibrations 3725
Borggaard, Jeffrey T. Virginia Polytech. Inst. & State Univ.
Turi, Janos Univ. of Texas at Dallas
2:10 (I)A new approach in identification of dielectric polarization,
Wang, Yun
Banks, H. T.
Buksas, M. W.
3730
Armstrong Laboratory- OESNorth Carolina State Univ.
North Carolina State Univ.
Univ. of PittsburghUniv. of Florida
3:10 (I)Nonlinear dynamic compensator design for flow control in a
driven cavity 3741
King, Belinda B. Oregon State Univ.
Ou, Yuh-Roung Virginia Polytechnic Inst. & State Univ.
Grand Salon A-6
FM17
ApplicationsChair: Simaan, Marwan
Chair: Hammer, Jacob
1:30
On the modeling and control of biological signaling chains
3747
Hammer, Jacob Univ. of Florida
1:50
Control designs for an adaptive optics system 3753
Huang, Jim Alphatech, Inc.
Looze, Douglas P. Univ. of Massachusetts
Denis, Nikolaos Univ. of Massachusetts
Castanon, David A. Boston Univ.
2:10
Application of image moment flow of a RPP to 6 DOF visual
tracking 3757
Tu, Huah National Taiwan Univ.
Fu, Li-Chen National Taiwan Univ.
2:30
Using an adaptive autopilot for flight control systemperformance improvement 3759
Hill, Joe Coleman Research Corp.Lam, Quang M. Welch Engin.
2:50
Bounded-input bounded-output stability of the Josephsonjunction represented by the perturbed Sine-Gordon equation
3763
Shahruz, Shahram M. Berkeley Eng. Research Inst.
Krishna, L. G. Berkeley Eng. Research Inst.
3:10
Optimal location of controls for an acoustic problem 3765
Fahroo, F. Naval Postgraduate School
END MID-AFTERNOON SESSIONS
2:30 (I)Boundary control for the chaotic flow of a thermal convection
loop 3734
Rubio, Diana Virginia Polytechnic Inst. & State Univ.
2:50 (I)On computing sensitivities forparameter estimation in Hybridsystems 3738
Hammer, Patricia Hollins College
Belle Chasse
Notre Dame Univ.
Univ. of Bremen
FP01
Nonlinear Control III
Chair: Michel, Anthony N.
Chair: Wirth, Fabian
3:50
Muliplier theory for stability analysis of anti-windup control
systems 3767
Kothare, M. California Inst, of Tech.
Morari, Manfred ETH Swiss Fed. Inst, of Tech.
4:10
Global stabilization by guidance controls 3773
Smirnov, Georgi V. Int'l School for Advanced Studies
4:30
Systematic construction of Lyapunov functions for nonlinear
systems in critical cases 3779
Schwartz, Carla A. Univ. of Florida
Yan, Aiguo Univ. of Florida
4:50
Stability analysis of exact model matching control for finite
Volterra series systems 3785
Yamanaka, Osamu Keio Univ.
Ohmori, Hiromitsu Keio Univ.
Sano, Akira Keio Univ.
5:10
On output feedback stabilization of Euler-Lagrange systemswith nondissipative forces 3791
Shishkin, Serge L. Russian Academy of Sciences
Ortega, Romeo Univ. de Tech. de CompiegneHill, David J. Sydney Univ.
Loria, Antonio UTC/URA CNRS 817
5:30
Qualitative analysis of artificial neural networks with multipledelays 3796
Ye, Hui Notre Dame Univ.
Michel, Anthony N. Notre Dame Univ.
Wang, Kaining Notre Dame Univ.
4:10
Transformation of the kinematic models of restricted mobilitywheeled mobile robots with a single platform into chained
forms 3811
Leroquais, W. Ecole des Mines de Paris
D'Andrea-Novel, Brigilte Ecole des Mines de Paris
4:30
Nonlinear control for an autonomous undenvater vehicle
(AUV) preserving linear design capabilities 3817
Santos, Aristide INRIA Sophia-AntipolisBitmead, Robert R. Australian National Univ.
4:50
A dynamically configurable control architecture for
autonomous mobile robots 3823
Sousa, J. Borges Porto Univ.
Pereira, Fernando Lobo Inst, for Sys. & Robotics
Pereira da Silva, Eduardo A. Univ. do Porto - ISR
5:10
Dynamic control of a nonholonomic mobile robot in cartesian
space 3825
Tounsi, M. Ecole Centrale Nantes
Lebret, G. Ecole Centrale Nantes
Gautier, Maxime Ecole Centrale Nantes
5:30
The design of time-optimal control for two-wheel driven carts
tracking a moving target 3831
Zheng, Yi De Montfort Univ.
Moore, Philip De Montfort Univ.
5:50
An obstacle avoidance algorithm for a car pulling trailers with
off-axle hitching 3837
Bushnell, Linda G. US ARO
Grand Salon B-7
FP03
Stochastic Systems and AlgorithmsChair: Li, Xiao RongChair: Leland, Robert P.
Univ. of New Orleans
Univ. of Alabama
5:50
Optimal control for a class of nonlinear systems 3802
Kaznacheyev, Yu. V. Russian Space Corp. EnergiaChertok, M. B. Russian Space Corp. EnergiaHall, R. A. The Charles Stark Draper Lab
Rosedown
Australian National Univ.
Polytechnic Univ.
FP02Mobile Robots
Chair: Bitmead, Robert R.
Chair: Khorrami, Farshad
3:50
Control of a nonholonomic mobile robot: backsteppingkinematics into dynamics 3805
Fierro, Rafael Univ. of Texas at ArlingtonLewis. Frank L. Univ. of Texas at Arlington
3:50
Necessary and sufficient conditions for convergence of
stochastic approximation algorithms under arbitrarydistrubances 3843
Kulkarni, S. R. Princeton Univ.
Horn, Charlie S. Princeton Univ.
4:10
On equivalence of some noise conditions for stochastic
approximation algorithms 3849
Wang, l-Jeng Purdue Univ.
Chong, Edwin K. P. Purdue Univ.
Kulkarni, S. R. Princeton Univ.
4:30
Solving non-standard Riccati equations using LMI
optimization 3855
Ait-Rami, M. Ecole Super, de Techniques Avancees
El Ghaoui, Laurent M. ENSTA
4:50
An input-output model for the Gerbil Cochlea 3857
Wolodkin, Gregory J. Univ. of California at BerkeleyLewis, Edwin Univ. of California at BerkeleyPoolla, Kameshwar Univ. of California at BerkeleyHenry, Kenneth J. Univ. of California at Berkeley
5:10
Parametrization of all mode-independent mean-square
stabilizing controllers for discrete-time stochastic hybridsystems 3863
Yaz, Engin Univ. of Arkansas
Yaz, like Centenary College
5:30
Adaptive identification by stochastic approximation 3865
Vellekoop, Michel Imperial College of Sci., Tech. & Med.
Bagchi, Arunabha Univ. of Twente
5:50
An improved log-likelihood gradient for continuous time
stochastic systems with deterministic input. 3867
Leland, Robert P. Univ. of Alabama
Melrose
FP04Applications of Nonlinear Control
Chair: Hunt, Louis R. Univ. of Texas at Dallas
Chair: Crawford, Lara S. Univ. of California at Berkeley
5:50
Dynamic control of free-flying coordinated space robots
3898
Canadian Space AgencyHu, Yan-Ru
Vukovich, George Canadian Space Agency
Marlborough A
Georgia Inst, of Tech.
Wayne State Univ.
FP05
Optimization and Control II
Chair: Fan, Michael K. H.
Chair: Mordukhovich, Boris
3:50
On optimization with competing performance criteria 3907
Helton, J. William Univ. of California, San DiegoVityaev, A. E. Univ. of California, San Diego
4:10
An algorithm for optimal control problems based on
differential inclusions 3912
Pereira, Fernando Lobo Inst, for Sys. & Robotics
Sousa, J. Borges Porto Univ.
Coimbra De Matos, A. Porto Univ.
4:30
Optimal control for maximal accuracy with an arbitrary control
space metric 3914
Verriest, Erik I. Georgia Tech Lorraine
Gray, W. Steven Drexel Univ.
3:50
The singular locus for the n-trailers car control system.... 3869
Jean, Frederic Univ. Pierre et Marie Curie
4:10
Robust stabilization of chemical reactors 3871
Viel, Frederic Univ. Catholique de Louvain
Jadot, F. Univ. Catholique de Louvain
Bastin, Georges Univ. Catholique de Louvain
4:30
Nonlinear control of swing-up and stabilization of an inverted
pendulum 3873
Ohsumi, Akira Kyoto Inst, of Tech.
Izumikawa, Takeya Kyoto Inst, of Tech.
4:50
Biological motor control approaches for a planar diver.... 3881
Crawford, Lara S. Univ. of California at BerkeleySastry, Shankar S. Univ. of California at Berkeley
5:10
Effects of torsional dynamics on nonlinear generator control:
Part 1 3887
Allen, E. H. Massachusetts Inst, of Tech.
Chapman, Jeff W. Massachusetts Inst, of Tech.
Ilic, Marija Massachusetts Inst, of Tech.
5:30
Robots with elastic joints are linearizable via dynamicfeedback 3895
De Luca, Alessandro Univ. di Roma 'La Sapienza'Lanari, Leonardo Univ. di Roma 'La Sapienza'
4:50
The linear-quadratic optimal regulation for continuous time-
varying singular systems 3920
Yan, Jiuxi Shandong Arch, and Civil Eng. Inst.
Cheng, Zhaolin Shandong Univ.
Yan, Yi Tsinghua Univ.
5:10
A global extended maximum principle 3922
Ledzewicz, Urszula Southern II. Univ. at Edwardsville
Schattler, Heinz Washington Univ.
5:30 (SIAM)Sufficient conditions for optimal control
Stefani, Gianna
Zezza, Pierluigi P.
3929
Univ. of NaplesUniv. de Firenze
Jasperwood
Univ. of Kassel
Univ. of Florida
FP06Adaptive Control V
Chair: Kreisselmeier, Gerhard
Chair: Crisalle, Oscar D.
3:50
Estimation-based adaptive backstepping designs for linear
systems 3935
Krstic, Miroslav Univ. of MarylandKokotovic, Petar V. Univ. of California at Santa Barbara
4:10
Stability and performance of nonlinear robust adaptivecontrol 3941
Zhang, Youping Univ. of Southern California
loannou, Petros A. Univ. of Southern California
5:10
Time-varying exponential stabilization of the attitude of a rigidspacecraft with two controls 3988
Morin, Pascal INRIA Sophia-AntipolisSamson, Claude INRIA Sophia-Antipolis
4:30
Globally bounded robust adaptive controller with arbitrarilysmall residual tracking error 3947
Miyasato, Yoshihiko The Inst, of Statistical Math.
5:30
Nonlinear H-infinity control of aerospace plane ascent.... 3994
McEneaney, William M. Carnegie Mellon Univ.
Mease, Kenneth D. Univ. of California at Irvine
4:50
Robust regulation for a class of parameters uncertain
nonlinearsystems with minimum-phase 3953
Lu, Souyin Northeastern Univ.
Liu, Xiaoping Northeastern Univ.
5:10
Robust direct model reference adaptive controllers 3955
Ozcelik, Selahattin Rensselaer Polytechnic Inst.
Kaufman, Howard Rensselaer Polytechnic Inst.
5:30
Global adaptive output feedback control of nonlinear systemswith unknown high frequency gains 3961
Ding, Zhengtao Ngee Ann Polytechnic
5:50
Adaptive output feedback regulation of a class of nonlinear
systems 3963
Aloliwi, Bader Michigan State Univ.
Khalil, Hassan K. Michigan State Univ.
Prince of Wales
FP07
Spacecraft & Marine Vehicles
Chair: Repperger, Daniel W Wright Patterson Air Force Base
Chair: Leonard, Naomi Ehrich Princeton Univ.
3:50
State feedback H-infinity control of a rigid spacecraft 3968
Dalsmo, Morten The Norwegian Inst, of Tech.
Egeland, Olav The Norwegian Inst, of Tech.
4:10
Analytical solution of generalized 3D proportional navigation3974
Yang, Ciann-Dong National Cheng Kung Univ.
Yang, Chi-Ching National Cheng Kung Univ.
4:30
Periodic forcing, dynamics and control of underactuated
spacecraft and underwater vehicles 3980
Leonard, Naomi Ehrich Princeton Univ.
4:50
Attitude control of an underactuated satellite 3986
Godhavn, John-Morten The Norwegian Inst, of Tech.
Egeland, Olav The Norwegian Inst, of Tech.
5:50
Quaternion-based coordinated control of a subsea mobile
manipulator with only position measurements 3996
Lizarralde, Fernando Cesar COPPE/UFRJ
Wen, John T. Rensselaer Polytechnic Inst.
Hsu, L. COPPE/UFRJ
Grand Salon B-10
FP08Nonlinear FilteringChair: Gustafsson, Fredrik
Chair: Ninness, Brett M.
3:50
Construction of new finite dimensional nonlinear filters
4002
Univ. of Illinois at Chicago
Linkoping Univ.
Univ. of Newcastle
Yau, Stephen S.-T.
Rasoulian, Amid Univ. of Illinois at Chicago
4:10
A differential geometric approach to nonlinear filtering: the
projection filter 4006
Brigo, Damiano Free Univ. Amsterdam
Hanzon, B. Free Univ. Amsterdam
LeGland, Francois IRISA-INRIA
4:30
Nonlinear filtering with perfect discrete time observations
4012
Joannides, Marc Imperial College of Sci., Tech. & Med.
LeGland, Francois IRISA-INRIA
4:50
Maximum likelihood estimation of the parameters of
fractional Brownian motions 4018
Ninness, Brett M. Univ. of Newcastle
5:10
Universal prediction of nonlinear systems 4024
Kulkarni, S. R. Princeton Univ.
Posner, Steven E. Princeton Univ.
5:30 (SIAM)Explicit construction of finite-dimensional nonlinear filters
with state space dimension 3 4030
Chen, Jie Univ. of Illinois at ChicagoYau, Stephen S.-T. Univ. of Illinois at ChicagoLeung, C.-W. National Central Univ.
5:50 (SIAM)Approximation of stochastic evolution equations 4035
Ito, Kazufumi North Carolina State Univ.
Grand Salon B-12
FP09
System & Control Problems in Autonomous Vision and
Robotic SystemsChair: Ghosh, Bijoy K. Washington Univ.
Chair: Xi, N. Washington Univ.
Org: Ghosh, Bijoy K. Washington Univ.
Org: Picci, Giorgio Univ. degli Studi Padova
3:50 (I)A model for binocular observation based on tracking and
observability*
Lockwood, P. Texas Tech Univ.
Lu, S. Texas Tech Univ.
Martin, Clyde F. Texas Tech Univ.
4:10 (I)The EM algorithm in a recursive estimation
Brockett, Roger W.
Oak Alley
Harvard Univ.
4:30 (I)Active contours for visual tracking: a geometric gradientbased approach 4041
Kumar, Aditya Univ. of Minnesota
Yezzi, A. Univ. of Minnesota
Kichenassamy, S. Univ. of Minnesota
Olver, P. Univ. of Minnesota
Tannenbaum, Allen Univ. of Minnesota
4:50 (I)On-line path following by recursive spline updating 4047
Picci, Giorgio Univ. degli Studi Padova
Frezza, Ruggero Univ. degli Studi Padova
5:10 (I)Theory and experiments in vision-based grasping 4053
Smith, Christopher E. Univ. of Minnesota
Papanikolopoulos, Nikolaos Univ. of Minnesota
5:30 (I)Visually controlled manipulation of parts in a manufacturingworkcell using a robotic manipulator
*
Yu, Zhenyu Washington Univ.
Ghosh, Bijoy K. Washington Univ.
Xi, N. Washington Univ.
Tarn, Tzyh-Jong Washington Univ.
5:50 (I)Nonlinear control of dual-robot pushing and pulling with force
regulation 4059
Tarn, Tzyh-Jong Washington Univ.
Xi, N. Washington Univ.
Ramadorai, Arvind K. Philips Research Labs.
Oakland Univ.
Sandia National Labs.
FP10
IVHS and Traffic TransportationChair: Polis, Michael P.
Chair: Byrne, Raymond H.
3:50
Combining lane assignment with route guidance on corridor
systems 4065
Ramaswamy, D. Univ. of Illinois at Urbana-ChampaignMedanic, Juraj V. Univ. of Illinois at Urbana-ChampaignBenekohal, Rahim Univ. of Illinois at Urbana-ChampaignPerkins, William R. Univ. of Illinois at Urbana-Champaign
4:10
Timetable tracking in a public transport network 4071
Di Febbraro, Angela DIST-Univ. di Genova
Sacone, Simona DIST-Univ. di Genova
4:30
Variable structure platoon stable controller for autonomous
intelligent vehicle 4075
Stotsky, Alexander A. Academy of Sciences of Russia
Harlamov, V. Academy of Sciences of Russia
4:50
Variable time headway for string stability of automated heavy-duty vehicles 4077
Yanakiev, D. Univ. of California at Los AngelesKanellakopoulos, I. Univ. of California at Los Angeles
5:10
Generating optimal schedules for an underground railway line
4082
Minciardi, Riccardo Univ. of Genova
Paolucci, M. Univ. of Genova
Pesenti, R. Univ. of Trieste
5:30
Sliding mode control design for automated steering via
Lyapunov approach 4086
Drakunov, Sergey V. Tulane Univ.
DeCarlo, Raymond A. Purdue Univ.
5:50
A decentralized routing controller for congested highways....4089
Iftar, Altug Anadolu Univ.
FP11Linear Multivariate Control
Chair: Goodwin, Graham C.
Chair: McDonald, James S.
Marlborough B
Univ. of Newcastle
Trinity Univ.
3:50
Cancellations for multivariable systems: a matter of directions
4095
Gomez, Guillermo I. Univ. of Newcastle
Goodwin, Graham C. Univ. of Newcastle
4:10
Vectorial sensitivity constraints for linear multivariable
systems 4097
Gomez, Guiilermo I. Univ. of Newcastle
Goodwin, Graham C. Univ. of Newcastle
5:10
Discrete-time algebraic Riccati equation arising in H-infinityfiltering problem 4163
Takaba, Kiyotsugu Kyoto Univ.
Katayama, Tohru Kyoto Univ.
4:30
A parameterization for automatic loop-by-loop multivariable
controller design 4103
James, Ben Imperial College of Sci., Tech. & Med.
Bryant, G. F. Imperial College of Sci., Tech. & Med.
4:50
Parametrization of comprehensive stabilizing controllers and
analysis of its structure 4108
Liu, Kang-Zhi Chiba Univ.
Mita, Tsutomu Chiba Univ.
5:10
Sequential design procedure for multivariable systems: the
root LOCI approach 4114
Yeung, L. F. City Polytechnic of Hong Kong
5:30
A robust QFT design for a multivariable paper machine
benchmark 4120
Nordin, Mattias C. The Royal Inst, of Tech.
Gutman, Per-Olof Technion
5:50
Multivariable quantitative feedback design*
Nwokah, Osita D.I. Southern Methodist Univ.
Grewal, Gurmohan Southern Univ.
Gastineau, Z. Wright Lab.
Nordgren, Richard E. Westvaco
Grand Salon A-3
FP12
H-infinity Control II
Chair: Ohta, Yoshito Osaka Univ.
Chair: Dahleh, Mohammed A.Univ. of California, Santa Barbara
4:10
Three and half DOF polynomial solution of the feedforward
H2-H-infinity control problem 4145
Grimble, Michael John Strathclyde Univ.
4:30
A reduced order discrete-time H-infinity norm boundingcontroller 4151
Hoover, David N. Univ. of Illinois at Urbana-ChampaignMedanic, Juraj V. Univ. of Illinois at Urbana-ChampaignPerkins, William R. Univ. of Illinois at Urbana-Champaign
4:50
Linear systems with finite signal-to-noise ratios: a robustness
approach 4157
Thygesen, Uffe H. Purdue Univ.
Skelton, Robert E. Purdue Univ.
5:30
H-infinity sensitivity and mixed-sensitivity optimization for
stable multivariable infinite-dimensional systems 4169
Rodriguez, Armando A. Arizona State Univ.
5:50
Explicit formulas for operator Riccati equations arising in H-
infinity control with delays 4175
Kojima, Akira Tokyo Metro. Inst, of Tech.
Ishijima, Shintaro Tokyo Metro. Inst, of Tech.
MagnoliaFP13
Analysis of Manufacturing SystemsChair: Malhame, Roland P. Ecole Poly, de Montreal
Chair: Zhang, Qing Univ. of Georgia
3:50
Improvability properties of assembly systems 4182
Meerkov, Semyon M. Univ. of MichiganPark, E. Univ. of Michigan
4:10
Job shop scheduling with group-dependent setups, finite
buffers, and long time horizon 4184
Luh, Peter B. Univ. of Connecticut
Gou, Ling Univ. of Connecticut
Odahara, Tadashi Toshiba Hamakawasaki Works
Tsuji, Makoto Toshiba Hamakawasaki Works
Yoneda, Kiyoshi Toshiba Corp.Hasegawa, Tetsuo Toshiba Corp.Kyoya, Yuji Toshiba Corp.
4:30
Global synchronous scheduling policies for flexible
manufacturing systems 4190
Burgess, Kevin L. Ohio State Univ.
Passino, Kevin Ohio State Univ.
4:50
Double band policy for a failure prone manufacturing systemwith alternate demand rates in heavy traffic 4196
Chen, Zhisheng Univ. of Kansas
5:10
Stochastic manufacturing systems under unknown demand
and robust control criteria 4198
Boukas, El-Kebir Ecole Poly, de Montreal
Zhang, Qing Univ. of GeorgiaYin, George Wayne State Univ.
5:30
Stability analysis and control parameter optimization of an
inventory system with order variation limits 4200
Xie, Xiaolan INRIA, Technopole Metz 2000
5:50
Multi-objective aspects in lot-sizing in manufacturing systems4202
Di Febbraro, Angela DIST-Univ. di Genova
Minciardi, Riccardo DIST-Univ. di Genova
Sacone, Simona DIST-Univ. di Genova
Grand Salon B-9
FP14
Nonlinear Identification, Modeling and TrajectoryGeneration
Chair. Isidori, Alberto Washington Univ.
Chair: Verhaegen, Michel Delft Univ. of Tech.
3:50
Identifying MIMO Wiener systems using subspace model
identification methods 4206
Verhaegen, Michel Delft Univ. of Tech.
Westwick, David McGill Univ.
4:10
Nonlinear plant controller reduction 4212
Pavel, Lacramioara Queen's Univ.
Fairman, Frederick W. Queen's Univ.
4:30
A Dynamic inverse for nonlinear maps 4218
Getz, Neil H. Univ. of California at BerkeleyMarsden, Jerrold E. Univ. of California at Berkeley
4:50
Approximate trajectory generation for differentially flat
systems with zero dynamics 4224
van Nieuwstadt, Michiel California Inst, of Tech.
Murray, Richard M. California Inst, of Tech.
5:10
A guiding function approach to stabilization of a class of
nonlinear systems 4231
Michalska, Hannah H. McGill Univ.
5:30
A Hamilton-Jacobi inequality approach to nonlinear strict H-
infinity control and characterization of some gain conditions
4233
Imura, Jun-ichi Kyoto Univ.
Sugie, Toshiharu Kyoto Univ.
Yoshikawa, Tsuneo Kyoto Univ.
5:50
What is the dimension of the minimal realization of a nonlinear
system? 4239
Zheng, Y.F. East China Normal Univ.
Liu, P. Univ. of Sheffield
Zinober, Alan S. Univ. of Sheffield
Moog, C. H. Ecole Centrale Nantes
Elmwood
Virginia Commonwealth Univ.
Massachusetts Inst, of Tech.
FP15
Stability and Stabilization
Chair: Terrell, William J.
Chair: Young, Peter M.
3:50
On graphs, conic relations and input-output stability of
nonlinear feedback systems 4245
Teel, Andrew R. Univ. of Minnesota
4:10
Robust stability of digital feedback control systems with
floating point arithmetic 4251
Molchanov, A. Inst, of Control Sciences Moscow
Bauer, P. Notre Dame Univ.
4:30
Input-output and input-to-state stabilization of cascaded
nonlinear systems 4259
Seron, Maria Univ. of Newcastle
Hill, David J. Sydney Univ.
4:50
Phase properties of Hurwitz polynomials 4265
Keel, Lee Tennessee State Univ.
Bhattacharyya, Shankar P. Texas A & M Univ.
5:10
Interpolation with bounded real rational units with
applications to simultaneous stabilization 4267
Bredemann, Mike V. Sandia National Labs.
Abdallah, Chaouki T. Univ. of New Mexico
Dorato, Peter Univ. of New Mexico
5:30
Semialgebraic sets, stabilizations, and computability 4273
Bertilsson, Daniel Royal Inst, of Tech.
Blondel, Vincent INRIA, Rocquencourt
5:50
Stabilization of linear systems subject to control constraints
via minimal-order observers 4279
Gomes da Silva, Jr., J. M. LAAS-CNRS-Toulouse
Tarbouriech, Sophie LAAS-CNRS
Castelan, E. B. Univ. Federal de Santa Catarina
Grand Salon A-4
FP16Nonholonomic SystemsChair: McClamroch, N. Harris
Chair: Getz, Neil H.
Univ. of MichiganUniv. of California at Berkeley
3:50
Internal equilibrium control of a bicycle 4285
Getz, Neil H. Univ. of California at Berkeley
4:10
Configuration controllability for a class of mechanical systems4288
Lewis, Andrew D. California Inst, of Tech.
Murray, Richard M. California Inst, of Tech.
4:30
Stabilization and asymptotic path tracking of a rolling disk.
4294
Rui, C.
McClamroch, N. Harris
Univ. of MichiganUniv. of Michigan
4:50
Discontinuous receding horizon based stabilizing feedback
for nonholonomic systems in power form 4300
Alamir, Mazen ENSIEG - INPG
Khennouf, Hayette ENSIEG - INPG
5:10
Preliminary results on asymptotic stabilization of Hamiltonian
systems with nonholonomic constraints 4305
Khennouf, Hayette ENSIEG - INPG
Canudas de Wit, Carlos URA CNRS 228 ENSIEG
van der Schaft, Abraham J. Univ. of Twente
5:30
Control of mechanical systems subject to unilateral
constraints 4311
Pagilla, P. Univ. of California at BerkeleyTomizuka, Masayoshi Univ. of California at Berkeley
5:50
Control of mechanical systems with symmetries and
nonholonomic constraints 4317
Ostrowski, Jim California Inst, of Tech.
Burdick, Joel California Inst, of Tech.
5:10
A necessary and sufficient condition for the solvability of
perturbed Nevanlinna-Pick interpolation problems 4341
Yung, Chee-Fai National Taiwan Ocean Univ.
Yeh, Fang-Bo Tunghai Univ.
Lin, Jyun-Tswun Tunghai Univ.
Chen, Kuan-Lung National Taiwan Ocean Univ.
5:30
Real structured singular value bounds using polynomialmultipliers and scaling 4343
Sparks, Andrew G. Univ. of MichiganBernstein, Dennis S. Univ. of Michigan
5:50
An interpolated controller for a plant with variable operatingconditions 4349
Muramatsu, Eiichi Kobe Univ. of Mercantile Marine
Ikeda, Masao Osaka Univ.
Hoshii, Naoki Mitsubishi Heavy Ind., Ltd.
END AFTERNOON SESSIONS
FP17
Robust Control II
Chair: Wise, Kevin A.
Chair: Pujara, LRai
Grand Salon A-6
McDonnell Douglas AerospaceWright State Univ.
3:50
On robust stability under slowly-varying memorylessuncertainty 4321
Chou, Y. S. Univ. of Maryland, College Park
Tits, Andre L. Univ. of Maryland, College Park
4:10
H-infinity optimization with spatial constraints 4327
D'Andrea, Raffaello California Inst, of Tech.
4:30
Notes on the computation of the incremental gain of linear
systems with saturation 4333
Romanchuk, Brian G. Univ. of Cambridge
4:50
Continuity properties of solutions to H2 and H-infinity Riccati
equations 4335
Stoorvogel, Anton A. Eindhoven Univ. of Tech.
Saberi, Ali Washington State Univ.