The -transform: A tool for analysis of control systems robustness with respect to disturbance model uncertainty.
Davison, D.E., Kabamba, P.T., Meerkov, S.M. (1998)
Mathematical Problems in Engineering
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Davison, D.E., Kabamba, P.T., Meerkov, S.M. (1998)
Mathematical Problems in Engineering
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Farid Ferguene, Redouane Toumi (2009)
International Journal of Applied Mathematics and Computer Science
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Force/position control strategies provide an effective framework to deal with tasks involving interaction with the environment. One of these strategies proposed in the literature is external force feedback loop control. It fully employs the available sensor measurements by operating the control action in a full dimensional space without using selection matrices. The performance of this control strategy is affected by uncertainties in both the robot dynamic model and environment stiffness....
Lubomír Bakule, Jan Lunze (1988)
Kybernetika
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Zribi, Mohamed, Alrifai, Muthana T. (2005)
Mathematical Problems in Engineering
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Frédéric Rotella, Francisco Javier Carillo, Mounir Ayadi (2002)
Kybernetika
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By the use of flatness the problem of pole placement, which consists in imposing closed loop system dynamics can be related to tracking. Polynomial controllers for finite-dimensional linear systems can then be designed with very natural choices for high level parameters design. This design leads to a Bezout equation which is independent of the closed loop dynamics but depends only on the system model.
Yamé, Joseph J., Kinnaert, Michel (2007)
Mathematical Problems in Engineering
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Alejandro Rodriguez-Angeles, Luis-Fernando Vazquez Chavez (2018)
Kybernetika
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This article proposes a decentralized navigation controller for a group of differential mobile robots that yields autonomous navigation, which allows reaching a certain desired position with a specific desired orientation, while avoiding collisions with dynamic and static obstacles. The navigation controller is constituted by two control loops, the so-called external control loop is based on crowd dynamics, it brings autonomous navigation properties to the system, the internal control...
María del Carmen Rodríguez-Liñán, Marco Mendoza, Isela Bonilla, César A. Chávez-Olivares (2017)
International Journal of Applied Mathematics and Computer Science
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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.
Shi, Peng, Shue, Shyh-Pyng, Shi, Yan, Agarwal, Ramesh K. (1999)
Mathematical Problems in Engineering
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