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4. Stability of Nonlinear Switched and Impulsive Systems
In this chapter, we shall study the stability of nonlinear switched and impulsive systems of the form...
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4 Continuous-time Systems: Tracking Control
In this chapter we treat the problem of H∞ tracking with stochastic multiplicative white noise. We extend the work of [98], which does not involve...
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Stability
This chapter is devoted to the study of the stability for singular systems in both the continuous and discrete contexts. The definitions of...
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H∞ Filtering
The H∞ filtering problem for state-space systems has received much attention in the past two decades. In the H∞ setting, the noises are assumed to be...
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Control of Nonlinear Systems with Uncertainty
In this chapter, we consider nonlinear systems with time-varying uncertain variables and present robust inverse optimal controller designs that...
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5 Case Studies
This section demonstrates our hybrid estimation scheme on the basis of the illustrative 3-component cPHA and the BIO-Plex process automation example...
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Reconfiguration Using a Virtual Actuator
This chapter develops the concept of a virtual actuator. The idea of a virtual actuator is to use the input signal meant for the nominal process and...
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1 Introduction
The problem of position control of robot manipulators was addressed in the 1970’s to develop control schemes capable of controlling a manipulator’s...
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An Efficient QR Algorithm for a Hessenberg Submatrix of a Unitary Matrix
We describe an efficient procedure for implementing the Hessenberg QR algorithm on a class of matrices that we refer to as subunitary matrices. This...
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Arithmetic Properties of Observable Time Dependent Systems
Here we consider questions of discrete observability for linear systems of ordinary differential equations, extending work by Martin and Smith in...
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Endomorphisms of Hopf Algebras and a Little Bit of Control
Firstly this paper summarizes some of the the relations between control theory and coalgebra and Hopf algebra theory, particularly the fact that the...
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Pareto Optimal Coordination on Roadmaps
Given a collection of robots sharing a common environment, assume that each possesses an individual roadmap for its C-space and a cost function for...
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Coordinating Multiple Droplets in Planar Array Digital Microfluidics System
This paper presents an approach to coordinate the motions of droplets in digital microfluidic systems used for biochemical analysis. A digital...
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Semi-Differential Invariants for Recognition of Albebraic Curves
This paper studies the recognition of low-degree polynomial curves based on minimal tactile data. Differential and semi-differential invariants have...
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Computing Deform Closure Grasps
In prior work, we extended the well-known form closure grasp framework for rigid parts to a class of deformable parts, modeled as frictionless...
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Intelligent Neurofuzzy Control of a Robotic Gripper
One of the major challenges of robotics is the gras** and manipulating of objects in an unstructured environment, in particular where the physical...
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Analysis of Non-polynomial Systems Using the Sum of Squares Decomposition
Recent advances in semidefinite programming along with use of the sum of squares decomposition to check nonnegativity have paved the way for...
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On the Equivalence of Algebraic Approaches to the Minimization of Forms on the Simplex
We consider the problem of minimizing a form on the standard simplex [equivalently, the problem of minimizing an even form on the unit sphere]. Two...
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Sequential Pattern Mining*
Sequential pattern discovery has emerged as an important research topic in knowledge discovery and data mining with broad applications. Previous...
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Uncertain Knowledge Association Through Information Gain
The problem of entity association is at the core of information mining techniques. In this work we propose an approach that links the similarity of...