Displaying similar documents to “Motion planning, equivalence, infinite dimensional systems”

Modelling and control of an omnidirectional mobile manipulator

Salima Djebrani, Abderraouf Benali, Foudil Abdessemed (2012)

International Journal of Applied Mathematics and Computer Science

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A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic...

Controllability of analytic functions for a wave equation coupled with a beam.

Brice Allibert, Sorin Micu (1999)

Revista Matemática Iberoamericana

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We consider the controllability and observation problem for a simple model describing the interaction between a fluid and a beam. For this model, microlocal propagation of singularities proves that the space of controlled functions is smaller that the energy space. We use spectral properties and an explicit construction of biorthogonal sequences to show that analytic functions can be controlled within finite time. We also give an estimate for this time, related to the amount of analyticity...

Sensors and boundary state reconstruction of hyperbolic systems

El Hassan Zerrik, Hamid Bourray, Samir Ben Hadid (2010)

International Journal of Applied Mathematics and Computer Science

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This paper deals with the problem of regional observability of hyperbolic systems in the case where the subregion of interest is a boundary part of the system evolution domain. We give a definition and establish characterizations in connection with the sensor structure. Then we show that it is possible to reconstruct the system state on a subregion of the boundary. The developed approach, based on the Hilbert uniqueness method (Lions, 1988), leads to a reconstruction algorithm. The obtained...