A nonlinear evolution equation modelling the Marangoni effect : existence of solution and numerical methods
Some numerical methods in bifurcation theory
Application of the optimal control theory to the wastewater elimination problem.
The main goal of this paper is to show some applications of the optimal control theory to the wastewater elimination problem. Firstly, we deal with the numerical simulation of a given situation. We present a suitable mathematical model, propose a method to solve it and show the numerical results for a realistic situation in the (Spain). Secondly, in the same framework of wastewater elimination problem, we pose two economic-environmental problems which can be formulated as constrained optimal control...
Saturating stiffness control of robot manipulators with bounded inputs
A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.
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