Search
Search Results
-
6. DUAL POLE-PLACEMENT CONTROLLER WITH DIRECT ADAPTATION
The following two problems have to be solved in order to extend the adaptive dual control approach to direct adaptive pole-placement control systems:... -
RTLinux-Based Controller for the SuperMARIO Mobile Robot
In the last years a new way to implement Real Time control systems has been opened, in connection with the diffusion of the open-source operating... -
Vision Based Motion Planning of Humanoid Robots
Vision is the most effective sensing form for humans in understanding their environment, recognition of the objects around them and navigating from... -
Fuzzy-Neural Impedance Control for Robots
In conventional impedance control, the difficulties encountered in obtaining an exact system dynamic model and selecting its impedance parameters... -
Evolution of Locomotion Controllers for Legged Robots
The construction of a locomotion controller for legged robots is a difficult and time consuming process. This task can be automated through the use... -
Robust Stability of Interval Lur’e Systems: A Bilinear Matrix Inequality Approach
This paper provides a sufficient condition for an interval Lur’e system to be globally exponentially stable with a dam** factor. The Lur’e system... -
6 Conclusion
Controllable underactuated manipulators were successfully developed based on the nonlinear control theoretic approach. The nonholonomic gear is... -
4 Design of the chained form manipulator
Nonholonomic underactuated systems are typically modelled as highly nonlinear ones, which becomes obvious as the dimension of the system increases.... -
Main concepts and definitions
The dynamic system concept. One of the major results of the theoretical cognitive process is the possibility to evaluate the consequences of... -
Model-Based Friction Compensation
Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for... -
Adaptive Robust Fuzzy Tracking Control for a Class of Nonlinear Systems
The tracking control problem for a class of nonlinear systems with uncertain system function and uncertain gain function, which are the unstructured... -
Measuring and Improving Performance in Anti-Windup Laws for Robot Manipulators
In this chapter we provide a high performance solution to the anti-windup problem for control systems of robot manipulators undergoing actuator... -
Thresholding Segmentation and Classification in Automated Ultrasonic Testing Image of Electrical Contact
This paper is concerned with the thresholding segmentation of ultrasonic C-scan image for defect with artificial intelligence and support vector... -
3-D Grasp Analysis and Synthesis Using the Ray-Shooting Technique
The ray-shooting technique is a powerful tool for handling geometric information in Computational Geometry and Computer Graphics. This chapter... -
3 Prototy** and control of the nonholonomic manipulator
Since a nonholonomic manipulator was theoretically designed from the viewpoint of kinematic constraints and nonlinear control, mechanical... -
Min–Plus Eigenvector Methods for Nonlinear $\rm H_\infty$ Problems with Active Control
We consider the H 4 problem for a nonlinear s y stem. The corresponding dynamic programming equation (DPE) is a fully nonlinear, first-order,... -
15. SIMULATION STUDIES AND REAL-TIME CONTROL USING MATLAB/SIMULINK
The MATLAB programs for simulating the generalized minimum variance (GMV) controller with the CE assumption as well as its dual version are presented... -
-
On Impulses Induced by Singular Perturbations
The possibility that a singularly perturbed controlled dynamics generates impulses in a slow dynamics coupled to it, is investigated. A scheme for... -
Lyapunov Functions and Feedback in Nonlinear Control
The method of Lyapunov functions plays a central role in the study of the controllability and stabilizability of control systems. For nonlinear...