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We apply the well-known homotopy continuation method to address the motion planning problem (MPP) for smooth driftless control-affine systems. The homotopy continuation method is a Newton-type procedure to effectively determine functions only defined implicitly. That approach requires first to characterize the singularities of a surjective map and next to prove global existence for the solution of an ordinary differential equation, the Wazewski equation. In the context of the MPP, the aforementioned...
We apply the well-known homotopy continuation method to address the
motion planning problem (MPP) for smooth driftless control-affine
systems. The homotopy continuation method is a Newton-type procedure
to effectively determine functions only defined implicitly. That
approach requires first to characterize the singularities of a
surjective map and next to prove global existence for the solution of
an ordinary differential equation, the Wazewski equation. In the
context of the MPP, the aforementioned...
When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing...
In this paper the control of robotic manipulation is investigated. Manipulation system analysis and control are approached in a general framework. The geometric aspect of manipulation system dynamics is strongly emphasized by using the well developed techniques of geometric multivariable control theory. The focus is on the (functional) control of the crucial outputs in robotic manipulation, namely the reachable internal forces and the rigid-body object motions. A geometric control procedure is outlined...
This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters...
The formulation of a bending vibration problem of an elastically restrained Bernoulli-Euler beam carrying a finite number of concentrated elements along its length is presented. In this study, the authors exploit the application of the differential evolution optimization technique to identify the torsional stiffness properties of the elastic supports of a Bernoulli-Euler beam. This hybrid strategy allows the determination of the natural frequencies and mode shapes of continuous beams, taking into...
We consider a problem of maximization of the distance traveled by a material point in the presence of a nonlinear friction under a bounded thrust and fuel expenditure. Using the maximum principle we obtain the form of optimal control and establish conditions under which it contains a singular subarc. This problem seems to be the simplest one having a mechanical sense in which singular subarcs appear in a nontrivial way.
Some problems regarding numerical modeling of predicted vibrations excited by railway traffic are discussed. Model formulation in the field of structural mechanics comprises a vehicle, a track (often in a tunnel) and soil. Time consuming computations are needed to update large matrices at every discrete step. At first, a sequential Matlab code is generated. Later on, the formulation is modified to use grid computing, thereby a significant reduction in computational time is expected.
The use of a multi-input control design procedure for uncertain nonlinear systems expressible in multi-input parametric-pure feedback form to determine the control law for a class of mechanical systems is described in this paper. The proposed procedure, based on the well-known backstepping design technique, relies on the possibility of extending to multi-input uncertain systems a second order sliding mode control approach recently developed, thus reducing the computational load, as well as increasing...
Some simple examples from quantum physics and control theory are used to illustrate the application of the theory of Lie systems. We will show, in particular, that for certain physical models both of the corresponding classical and quantum problems can be treated in a similar way, may be up to the replacement of the Lie group involved by a central extension of it. The geometric techniques developed for dealing with Lie systems are also used in problems of control theory. Specifically, we will study...
In this paper, a new control concept for a class of underactuated mechanical system is introduced. Namely, the class of -link chains, composed of rigid links, non actuated at the pivot point is considered. Underactuated mechanical systems are those having less actuators than degrees of freedom and thereby requiring more sophisticated nonlinear control methods. This class of systems includes among others frequently used for the modeling of walking planar structures. This paper presents the stabilization...
This paper studies the solution space of systems of algebraic and difference equations, given as auto-regressive (AR) representations A(σ)β(k) = 0, where σ denotes the shift forward operator and A(σ) is a regular polynomial matrix. The solution space of such systems consists of forward and backward propagating solutions, over a finite time horizon. This solution space can be constructed from knowledge of the finite and infinite elementary divisor structure of A(σ). This work deals with the inverse...
The paper deals with the control of underactuated mechanical systems between equilibrium positions across the singular positions. The considered mechanical systems are in the gravity field. The goal is to find feasible trajectory connecting the equilibrium positions that can be the basis of the system control. Such trajectory can be stabilized around both equilibrium positions and due to the gravity forces the mechanical system overcomes the singular positions. This altogether constitutes the control...
We study controllability for a nonhomogeneous string and ring under an axial stretching
tension that varies with time. We consider the boundary control for a string and
distributed control for a ring. For a string, we are looking for a control
f(t) ∈ L2(0,
T) that drives the state solution to rest. We show that for a ring, two forces
are required to achieve controllability. The controllability problem is reduced to a
moment problem...
We consider a finite-dimensional model for the motion of
microscopic organisms whose propulsion
exploits
the action of a layer of cilia covering its surface.
The model couples
Newton's laws driving the organism,
considered as
a rigid body, with
Stokes equations governing the surrounding fluid.
The action of the
cilia is described by a set of controlled
velocity fields on the surface of the organism.
The first contribution of the paper is the proof
that such a system
is generically controllable...
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