ℋ2 control with time-domain constraints: Theory and an application

IEEE Transactions on Automatic Control

Volumn 48, Issue 3, 2003, Pages 355-368

  Sznaier, Mario ^a   Amishima, Takeshi ^a   Inanc, Tamer ^a  

^a The Pennsylvania State University   (United States)

Author keywords

2 control; control; Active vision; Disturbance rejection; Optimal control

Indexed keywords

APPROXIMATION THEORY; CONTROL THEORY; PROBLEM SOLVING; QUADRATIC PROGRAMMING; TRANSFER FUNCTIONS;

ACTIVE VISION;

OPTIMAL CONTROL SYSTEMS;

EID: 0037350911     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2003.809143     Document Type: Article

References (63)

1. 2 related problems," Ph.D. dissertation, The Pennsylvania State University, University Park, PA, 1999.
2. M. J. Black and A. D. Jepson, "Eigentracking: Robust matching and tracking of articulated objects using a view-based representation," Int. J. Comp. Vision, vol. 26, no. 1, pp. 63-84, 1998.
3. B. North, A. Blake, M. Isard, and J. Rittscher, "Learning and classification of complex dynamics," IEEE Trans. Pattern Anal. Machine Intell., vol. 22, pp. 1016-1034, Sept. 2000.
4. A. Blake and M. Isard, Active Contours. Berlin, Germany: Springer-Verlag, 1998.
5. F. Blanchini, S. Miani, and M. Sznaier, "Robust performance with fixed and worst case signals for uncertain time-varying systems," Automatica, vol. 33, no. 12, pp. 2183-2189, 1997.
6. 1 suboptimal compensators for continuous-time systems," IEEE Trans. Automat. Contr., vol. 39, pp. 1487-1492, July 1994.
7. F. Blanchini, "Set invariance in control," Automatica, vol. 35, no. 11, pp. 1747-1767, Nov. 1999.
8. U. M. Cahn Von Seelen, "Performance evaluation of an active vision system," Ph.D. dissertation, Univ. Pennsylvania, Philadelphia, PA, 1997.
9. E. Calabi, P. J. Olver, C. Shakiban, A. Tannenbaum, and S. Haker, "Differential and numerically invariant signature curves applied to object recognition," Int. J. Comp. Vision, vol. 26, no. 2, pp. 107-135, 1998.
10. E. Castelan and S. Tarbouriech, "On positive invariance and output feed-back stabilization of input constrained linear systems," Proc. 1994 Amer. Control Conf., pp. 2740-2744, 1994.
11. D. Chmielewski and V. Manousiouthakis, "On constrained infinite-time linear quadratic optimal control," Syst. Control Lett., vol. 29, no. 3, pp. 121-129, 1996.
12. J. J. Clark and N. J. Ferrier, "Modal control of an attentive vision system," in Proc. 1988 Int. Conf. Computer Vision, pp. 514-523.
13. M. Cotlar and R. Cignoli, An Introduction to Functional Analysis. Amsterdam, The Netherlands: North-Holland, 1974.
14. D. Coombs and C. Brown, "Real-time binocular smooth pursuit," Int. J. Comp. Vision, vol. 11, no. 2, pp. 147-164, 1993.
15. 1 - Optimal feedback controllers for MIMO discrete-time systems," IEEE Trans. Automat. Contr., vol. AC-32, pp. 314-322, Apr. 1987.
16. 1 - Optimal compensators for continuous-time systems," IEEE Trans. Automat. Contr., vol. AC-32, pp. 889-895, Oct. 1987.
17. _, "Optimal rejection of persistent disturbances, robust stability, and mixed sensitivity minimization," IEEE Trans. Automat. Contr., vol. 33, pp. 722-731, Aug. 1988.
18. _, "Minimization of a regulated response to a fixed input," IEEE Trans. Automat. Contr., vol. 33, pp. 924-930, Oct. 1988.
19. I. J. Diaz-Bobillo and M. A. Dahleh, "Minimization of the maximum peak-to-peak gain: The general multiblock problem," IEEE Trans. Automat. Contr., vol. 38, pp. 1459-1482, Oct. 1993.
20. C. E. T. Dorea and B. E. Milani, "Design of LQ regulators for state constrained continuous-time systems," IEEE Trans. Automat. Contr., vol. 40, pp. 544-548, Mar. 1995.
21. ∞ control problems," IEEE Trans. Automat. Contr., vol. 34, pp. 831-846, Aug. 1989.
22. N. Elia, P. M. Young, and M. A. Dahleh, "Robust performance for fixed inputs," in Proc. 33rd IEEE Conf. Decision Control, Lake Buena Vista, FL, Dec. 1994, pp. 2690-2695.
23. B. Espiau, F. Chaumette, and P. Rives, "A new approach to visual servoing in robotics," IEEE Trans. Robot, Automat., vol. 8, pp. 313-326, Mar. 1992.
24. J. Feddema, "Microassembly of micro-electromechanical systems (MEMS) using visual servoing," presented at the Block Island Workshop Vision Control, Block Island, RI, 1997.
25. P. O. Gutman and P. Hagander, "A new design of constrained controllers for linear systems," IEEE Trans. Automat. Contr., vol. AC-30, pp. 22-33, Jan. 1985.
26. G. Hager, "A modular system for robust positioning using feedback from stereo vision," IEEE Trans. Robot. Automat., vol. 13, pp. 582-595, Apr. 1997.
27. G. Hager and P. Belhumeur, "Efficient region tracking with parametric models of geometry and illumination," IEEE Trans. Pattern Anal. Machine Intell., vol. 20, pp. 1025-1039, Oct. 1997.
28. K. Hashimoto and H. Kimura, "LQ optimal and nonlinear approaches to visual servoing," in Visual Servoing, K. Hashimoto, Ed. Singapore: World Scientific, 1993, vol. 7, World Scientific Series in Robotics and Automated Systems, pp. 165-198.
29. S. Hutchinson, G. D. Hager, and P. I. Corke, "A tutorial on visual servo control," IEEE Trans. Robot. Automat., vol. 12, pp. 651-670, May 1996.
30. J. Hill and W. T. Park, "Real time control of a robot with a mobile camera," in Proc. 9th ISIR, Washington, DC, Mar. 1979, pp. 233-246.
31. T. Inane, M. Sznaier, and O. Camps, "Synthesizing robust active vision systems: A combined robust identification/ μ-synthesis approach," presented at the 2002 IFAC World Congr., Barcelona, Spain, 2002.
32. P. Jensfelt, O. Wijk, D. J. Austin, and M. Andersson, "Experiments on augmenting condensation for mobile robot localization," in Proc. 2000 Int. Conf. Robotics Automation, San Francisco, CA, Apr. 2000, pp. 2518-2524.
33. T. Kailath, Linear Systems. Upper Saddle River, NJ: Prentice-Hall, 1980.
34. M. Khammash, "Robust performance: Unknown disturbances and fixed inputs," IEEE Trans. Automat. Contr., vol. AC-42, pp. 1730-1734, Dec. 1987.
35. R. Jain, R. Kasturi, and B. G. Schunck, Machine Vision. New York: McGraw-Hill, 1995.
36. D. Q. Mayne and H. Michalska, "Receding horizon control of nonlinear systems," IEEE Trans. Automat. Contr., vol. 35, pp. 814-824, July 1990.
37. Optimization Toolbox, The MathWorks, Inc., Natick, MA, 2001.
38. I. D. Reid and W. Murray, "Active tracking of foveated feature clusters using affine structure," Int. J. Comp. Vision, vol. 18, no. 1, pp. 41-60, 1996.
39. N. P. Papanikolopoulos, P. K. Khosla, and T. Kanade, "Visual tracking of a moving target by a camera mounted on a robot: A combination of control and vision," IEEE Trans. Robot. Automat., vol. 9, pp. 14-35, Jan. 1993.
40. 2 control problem," Automatica, vol. 29, no. 2, pp. 373-385, 1993.
41. M. V. Salapaka and M. Dahleh, Multiple Objective Control Synthesis. London, U.K.: Springer-Verlag, 2000, vol. 252, Lecture Notes in Control and Information Sciences.
42. P. Scokaert and J. Rawlings, "Constrained linear quadratic regulation," IEEE Trans. Automat. Contr., vol. 43, pp. 1163-1169, Aug. 1998.
43. O. Shakernia, Y. Ma, T. J. Koo, J. Hespanha, and S. S. Sastry, "Vision guided landing of an unmanned air vehicle," Proc. 1999 IEEE Conf. Decision Control, pp. 4143-4148, Dec. 1999.
44. P. M. Sharkey, D. W. Murray, S. Vandevelde, I. D. Reid, and P. F. McLauchlan, "A modular head/eye platform for real-time reactive vision," Mechatronics, vol. 3, no. 4, pp. 517-535, 1993.
45. C. E. Smith, C. A. Richards, S. A. Brandt, and N. P. Papanikolopoulos, "Visual tracking for intelligent vehicle-highway systems," IEEE Trans. Veh. Technol., vol. 45, pp. 744-759, Apr. 1996.
46. T. Starner and A. Pentland, "Real-time american sign language recognition using desk and wearable computer based video," IEEE Trans. Pattern Anal. Machine Intell., vol. 20, pp. 1371-1375, Dec. 1998.
47. 2 control with time domain constraints," in Proc. 1998 Amer. Control Conf., 1998, pp. 3229-3233.
48. ∞ suboptimal controllers for continuous-time systems," IEEE Trans. Automat. Contr., vol. 40, pp. 1831-1840, Nov. 1995.
49. M. Sznaier, T. Inane, and O. Camps, "Robust controller design for active vision systems," in Proc. 2000 Amer. Control Conf., July 2000, pp. 2013-2017.
50. M. Sznaier and M. J. Damborg, "Suboptimal control of linear systems with state and control inequality constraints," in Proc of 26th IEEE Conf. Decision Control, Los Angeles, CA, Dec. 1987, pp. 761-762.
51. M. Sznaier and M. Damborg, "Heuristically enhanced feedback control of constrained discrete time linear systems," Automatica, vol. 26, no. 3, pp. 521-532, May 1990.
52. M. Sznaier, "A set induced norm approach to the robust control of constrained linear systems," SIAM J. Control Optim., vol. 31, no. 3, pp. 733-746, 1993.
53. R. S. S. Pena and M. Sznaier, Robust Systems Theory and Applications. New York: Wiley, 1998.
54. 2 performance analysis," Automatica, vol. 38, pp. 957-966, June 2002.
55. C. Taylor, J. Ostrowski, and S. H. Jung, "Robust visual servoing based on relative orientation," presented at the Conf. Computer Vision Pattern Recognition, Fort Collins, CO, July 1999.
56. C. J. Taylor, J. Kosecka, R. Blasi, and J. Malik, "Comparative study of vision-based lateral control strategies for autonomous highway driving," Int. J. Robot. Res., vol. 18, no. 5, pp. 442-453, 1999.
57. T. Thorhallsson and D. W. Murray, "Tensors of three affine views," in Proc. Conf. Computer Vision Pattern Recognition, Fort Collins, CO, pp. 450-456.
58. J. K. Tsotsos, G. Verghese, S. Dickinson, M. Jenkin, A. Jepson, E. Milios, F. Nuflo, S. Stevenson, M. Black, D. Metaxas, S. Culhane, Y. Ye, and R. Mannn, "PLAYBOT: A visually-guided robot for physically disabled children," Image Vision Comput., vol. 16, no. 4, pp. 275-292, Apr. 1998.
59. M. Vassilaki, J. C. Hennet, and G. Bitsoris, "Feedback control of discrete-time systems under state and control constraints," Int. J. Control, vol. 47, no. 6, pp. 1727-1735, 1988.
60. Y. F. Wang, D. R. Uecker, and Y. Wang, "Choreographed scope maneuvering in robotically-assisted laparoscopy with active vision guidance," in 3rd IEEE Workshop Applications Computer Vision, Sarasota, FL, Dec. 1996.
61. ∞-suboptimal controllers for SISO continuous time systems," IEEE Thins. Automat. Contr., vol. 41, pp. 1358-1363, Sept. 1996.
62. G. F. Wredenhagen and P. R. Belanger, "Piecewise-linear LQ control for systems with input constraints," Automatica, vol. 30, no. 3, pp. 403-416, 1994.
63. K. Zhou, J. Doyle, and K. Glover, Robust and Optimal Control. Upper Saddle River, NJ: Prentice-Hall, 1995.