Order and domains of attraction of control sets in flag manifolds.
Output regulation problem for differentiable families of linear systems.
Rational algebra and MM functions
MM functions, formed by finite composition of the operators min, max and translation, represent discrete-event systems involving disjunction, conjunction and delay. The paper shows how they may be formulated as homogeneous rational algebraic functions of degree one, over (max, +) algebra, and reviews the properties of such homogeneous functions, illustrated by some orbit-stability problems.
Rational semimodules over the max-plus semiring and geometric approach to discrete event systems
We introduce rational semimodules over semirings whose addition is idempotent, like the max-plus semiring, in order to extend the geometric approach of linear control to discrete event systems. We say that a subsemimodule of the free semimodule over a semiring is rational if it has a generating family that is a rational subset of , being thought of as a monoid under the entrywise product. We show that for various semirings of max-plus type whose elements are integers, rational semimodules...
RGB-D terrain perception and dense mapping for legged robots
This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used...
Robust decoupling through algebraic output feedback in manipulation systems
This paper investigates the geometric and structural characteristics involved in the control of general mechanisms and manipulation systems. These systems consist of multiple cooperating linkages that interact with a reference member of the mechanism (the “object”) by means of contacts on any available part of their links. Grasp and manipulation of an object by the human hand is taken as a paradigmatic example for this class of manipulators. Special attention is devoted to the output specification...
Self bounded controlled invariants for singular systems
Self-bounded controlled invariant subspaces in measurable signal decoupling with stability: minimal-order feedforward solution
The structural properties of self-bounded controlled invariant subspaces are fundamental to the synthesis of a dynamic feedforward compensator achieving insensitivity of the controlled output to a disturbance input accessible for measurement, on the assumption that the system is stable or pre-stabilized by an inner feedback. The control system herein devised has several important features: i) minimum order of the feedforward compensator; ii) minimum number of unassignable dynamics internal to the...
Semigroup actions on homogeneous spaces.
Shuffle algorithm for two-dimensional singular systems with a Fornasini-Marchesini model
Simplification of the generalized state equations
The paper studies the problem of lowering the orders of input derivatives in nonlinear generalized state equations via generalized coordinate transformation. An alternative, computation-oriented proof is presented for the theorem, originally proved by Delaleau and Respondek, giving necessary and sufficient conditions for existence of such a transformation, in terms of commutativity of certain vector fields. Moreover, the dual conditions in terms of 1-forms have been derived, allowing to calculate...
Some ideas for comparison of Bellman chains
In this paper we are exploiting some similarities between Markov and Bellman processes and we introduce the main concepts of the paper: comparison of performance measures, and monotonicity of Bellman chains. These concepts are used to establish the main result of this paper dealing with comparison of Bellman chains.
Structural properties of singular systems
Structure of linear systems: Geometric and transfer matrix approaches
The partial non interacting problem: Structural and geometric solutions
The principle of the largest terms and quantum large deviations
We give an approach to large deviation type asymptotic problems without evident probabilistic representation behind. An example provided by the mean field models of quantum statistical mechanics is considered.
Особенности полей предельных направлений двумерных управляемых систем
Структурная устойчивость управляемых систем ха ориентируемых поверхностях
Теорема Римана-Роха и теорема о размерности минимальной реализации линейных динамических систем