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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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6 Shared Control
Based on the successful implementations of the lateral balancing and tiltup motion, in this chapter, we are going to develop a shared control...
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4 Compositional Modelling of Distributed-Parameter Systems
The Hamiltonian formulation of distributed-parameter systems has been a challenging reserach area for quite some time. (A nice introduction,...
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6 Stochastic Passivity
Passivity of deterministic linear systems plays an important role in network theory and in adaptive control. The fact that a system is passive...
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C Appendix: The Discrete DLMI Method
We consider the following system: $$ x_{k+1}=A_kx_k + B_k w_k, \quad k=0,1,...
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7 Conclusions
Gyrover is a novel concept for mobility that has distinct advantages over conventional, statically stable vehicles. The concept has been veri.ed with...
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Control of High-Speed Underwater Vehicles
I (GB) was fortunate that early in my career I had the opportunity to work with Keith Glover. Keith had just begun his obsession with golf. A simple...
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Regulating Cell Shape During Cytokinesis
During cytokinesis, the last step in cell division, cells must rearrange their shape so as to produce two daughter cells of equal size. To this end,...
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Review of Multivariable Control Applied to the VAAC Harrier and Remaining Open Questions
In the early nineties, a multivariable flight control law, designated FCL005, was developed for the Defence Evaluation and Research Agency (DERA),...
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Sample Reuse Techniques for Probabilistic Robust Control
Sample reuse techniques have significantly reduced the numerical complexity of probabilistic robustness analysis. Existing results show that for a...
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Model Reduction of Strongly Stable Nonstationary LPV Systems
This paper deals with the model reduction of nonstationary linear parametervarying (NLPV) systems. Our interest in LPV models is motivated by the...
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An $\mathcal{H}_\infty$ Loop-Sha** Approach to Steering Control for High-Performance Motorcycles
A fixed-parameter active steering compensation scheme that is designed to improve the dynamic behaviour of high-performance motorcycles is...
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An Approximate Dynamic Programming Approach to Decentralized Control of Stochastic Systems
We consider the problem of computing decentralized control policies for stochastic systems with finite state and action spaces. Synthesis of optimal...
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Past, Present and Future of Automotive Control
This paper contains a survey of the application of control systems theory to automotive systems. For this application field, the most useful modeling...
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Experiment Design for Robust Control: Why Do More Work Than Is Needed?
Optimal input design for system identi.cation was an active area of research in the 1970’s, with different quality measures of the identified model...
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Robustly Stabilizing Controllers with Internal Loop
The problem of robust stabilization with respect to left coprime factor perturbations was first solved explicity for the rational case in Glover and...
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Multi-knowledge Approach for Mobile Robot Identification of a Changing Environment
In this paper, a large environment is divided into sub-areas to enable a robot to apply precise localization technology efficiently in real time....
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In Situ Autonomous Biomechanical Characterization
This paper presents a fully automated microrobotic system based on force/vision referenced control designed for cell mechanical characterization. The...
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Image-Based Visual Servoing for Mobile Robots with Catadioptric Camera
This paper presents an image-based visual servoing strategy for holonomic mobile robots equipped with a catadioptric camera. This kind of vision...
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Representation, Recognition and Generation of Actions in the Context of Imitation Learning
The paper deals with the development of a cognitive architecture for learning by imitation in which a rich conceptual representation of the observed...