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Optimal Control of Differential-Algebraic Inclusions
In this paper we consider the following dynamic optimization problem ( P ) governed by differential-algebraic inclusions:...
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A Continuous Control Mechanism for Uncertain Nonlinear Systems
The control of uncertain nonlinear systems is a topic that continues to challenge control theoreticians. This topic is also of practical importance...
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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...
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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...
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13. ROBUSTNESS AGAINST UNMODELED EFFECTS AND SYSTEM STABILITY
Various engineering systems are described by complex dynamic models that include nonlinearities, time-varying parameters and high-order terms....
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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:...
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9. A SIMPLIFIED APPROACH TO THE SYNTHESIS OF DUAL CONTROLLERS WITH INDIRECT ADAPTATION
The cost function of the deviation between the system output and its nominal value (system response to the unknown desired controller), suggested by...
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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,...
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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...
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12. APPLICATION OF DUAL CONTROLLERS TO A LABORATORY SCALE VERTICAL TAKE-OFF AIRPLANE
The application of dual control with direct adaptation to the roll-angle control of a laboratory scale vertical take-off airplane (Patra et al.,...
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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...
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6 Conclusion
Controllable underactuated manipulators were successfully developed based on the nonlinear control theoretic approach. The nonholonomic gear is...
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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....
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Analysis of maximum control error
Problem definition. Maximum (or practically maximum – see §2.4) error is the most objective characteristic of control accuracy in many cases....
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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...
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Adaptive and Distributed Coordination Algorithms for Mobile Sensing Networks
Consider n sites evolving within a convex polygon according to one of the following interaction laws: (i) each site moves away from the closest other...
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Flocking in Teams of Nonholonomic Agents
The motion of a group of nonholonomic mobile agents is synchronized using local control laws. This synchronization strategy is inspired by the early...
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7 Concluding Remarks
As indicated in the Chapter 1, the objectives of this monograph were to present a unified framework for combining compliant motion control,...
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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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A Homotopy Continuation Solution of the Covariance Extension Equation
Algebraic geometry plays an important role in the theory of linear systems for (at least) three reasons. First, the Laplace transform turns...