A family of asymptotically stable control laws for flexible robots based on a passivity approach

A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the Passivity Theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility

Stability radius and internal versus external stability in Banach spaces: an evolution semigroup approach

In this paper the theory of evolution semigroups is developed and used to provide a framework to study the stability of general linear control systems. These include time-varying systems modeled with unbounded state-space operators acting on Banach spaces. This approach allows one to apply the classical theory of strongly continuous semigroups to time-varying systems. In particular, the complex stability radius may be expressed explicitly in terms of the generator of a (evolution) semigroup. Examples are given to show that classical formulas for the stability radius of an autonomous Hilbert-space system fail in more general settings. Upper and lower bounds on the stability radius are provided for these general systems. In addition, it is shown that the theory of evolution semigroups allows for a straightforward operator-theoretic analysis of internal stability as determined by classical frequency-domain and input-output operators, even for nonautonomous Banach-space systemsComment: Also at http://www.math.missouri.edu/~stephen/preprint

Robustness of the Thirty Meter Telescope Primary Mirror Control System

The primary mirror control system for the Thirty Meter Telescope (TMT) maintains the alignment of the 492 segments in the presence of both quasi-static (gravity and thermal) and dynamic disturbances due to unsteady wind loads. The latter results in a desired control bandwidth of 1Hz at high spatial frequencies. The achievable bandwidth is limited by robustness to (i) uncertain telescope structural dynamics (control-structure interaction) and (ii) small perturbations in the ill-conditioned influence matrix that relates segment edge sensor response to actuator commands. Both of these effects are considered herein using models of TMT. The former is explored through multivariable sensitivity analysis on a reduced-order Zernike-basis representation of the structural dynamics. The interaction matrix ("A-matrix") uncertainty has been analyzed theoretically elsewhere, and is examined here for realistic amplitude perturbations due to segment and sensor installation errors, and gravity and thermal induced segment motion. The primary influence of A-matrix uncertainty is on the control of "focusmode"; this is the least observable mode, measurable only through the edge-sensor (gap-dependent) sensitivity to the dihedral angle between segments. Accurately estimating focus-mode will require updating the A-matrix as a function of the measured gap. A-matrix uncertainty also results in a higher gain-margin requirement for focus-mode, and hence the A-matrix and CSI robustness need to be understood simultaneously. Based on the robustness analysis, the desired 1 Hz bandwidth is achievable in the presence of uncertainty for all except the lowest spatial-frequency response patterns of the primary mirror

Fast computation of the matrix exponential for a Toeplitz matrix

The computation of the matrix exponential is a ubiquitous operation in numerical mathematics, and for a general, unstructured $n\times n$ matrix it can be computed in $\mathcal{O}(n^3)$ operations. An interesting problem arises if the input matrix is a Toeplitz matrix, for example as the result of discretizing integral equations with a time invariant kernel. In this case it is not obvious how to take advantage of the Toeplitz structure, as the exponential of a Toeplitz matrix is, in general, not a Toeplitz matrix itself. The main contribution of this work are fast algorithms for the computation of the Toeplitz matrix exponential. The algorithms have provable quadratic complexity if the spectrum is real, or sectorial, or more generally, if the imaginary parts of the rightmost eigenvalues do not vary too much. They may be efficient even outside these spectral constraints. They are based on the scaling and squaring framework, and their analysis connects classical results from rational approximation theory to matrices of low displacement rank. As an example, the developed methods are applied to Merton's jump-diffusion model for option pricing