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On path following control of nonholonomic mobile manipulators

Alicja Mazur, Dawid Szakiel (2009)

International Journal of Applied Mathematics and Computer Science

This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator,...

On periodic oscillations for a class of feedback control systems in Hilbert spaces

Nguyen Van Loi (2013)

Discussiones Mathematicae, Differential Inclusions, Control and Optimization

In this paper, by using the topological degree theory for multivalued maps and the method of guiding functions in Hilbert spaces we deal with the existence of periodic oscillations for a class of feedback control systems in Hilbert spaces.

On some geometric control properties of active suspensions systems

Domenico Prattichizzo, Paolo Mercorelli (2000)

Kybernetika

The geometric control properties of vehicles with active suspensions are analyzed. A special attention is devoted to the problem of disturbance decoupling. Active suspensions of advanced vehicles allow the active rejection of external disturbances exerted on the sprung mass of the vehicle and caused by road surface irregularity. We focus on the road irregularity disturbances with the purpose of isolating the chassis from vibrations transmitted through suspensions. The paper is aimed at the synthesis...

On the anti–synchronization detection for the generalized Lorenz system and its applications to secure encryption

Volodymyr Lynnyk, Sergej Čelikovský (2010)

Kybernetika

In this paper, a modified version of the Chaos Shift Keying (CSK) scheme for secure encryption and decryption of data will be discussed. The classical CSK method determines the correct value of binary signal through checking which initially unsynchronized system is getting synchronized. On the contrary, the new anti-synchronization CSK (ACSK) scheme determines the wrong value of binary signal through checking which already synchronized system is loosing synchronization. The ACSK scheme is implemented...

On the best observation of wave and Schrödinger equations in quantum ergodic billiards

Yannick Privat, Emmanuel Trélat, Enrique Zuazua (2012)

Journées Équations aux dérivées partielles

This paper is a proceedings version of the ongoing work [20], and has been the object of the talk of the second author at Journées EDP in 2012.In this work we investigate optimal observability properties for wave and Schrödinger equations considered in a bounded open set Ω ⊂ ℝ n , with Dirichlet boundary conditions. The observation is done on a subset ω of Lebesgue measure | ω | = L | Ω | , where L ∈ ( 0 , 1 ) is fixed. We denote by 𝒰 L the class of all possible such subsets. Let T > 0 . We consider first the benchmark problem of maximizing...

On the Charney Conjecture of Data Assimilation Employing Temperature Measurements Alone: The Paradigm of 3D Planetary Geostrophic Model

Aseel Farhat, Evelyn Lunasin, Edriss S. Titi (2016)

Mathematics of Climate and Weather Forecasting

Analyzing the validity and success of a data assimilation algorithmwhen some state variable observations are not available is an important problem in meteorology and engineering. We present an improved data assimilation algorithm for recovering the exact full reference solution (i.e. the velocity and temperature) of the 3D Planetary Geostrophic model, at an exponential rate in time, by employing coarse spatial mesh observations of the temperature alone. This provides, in the case of this paradigm,...

On the circle criterion for boundary control systems in factor form : Lyapunov stability and Lur’e equations

Piotr Grabowski, Frank M. Callier (2006)

ESAIM: Control, Optimisation and Calculus of Variations

A Lur’e feedback control system consisting of a linear, infinite-dimensional system of boundary control in factor form and a nonlinear static sector type controller is considered. A criterion of absolute strong asymptotic stability of the null equilibrium is obtained using a quadratic form Lyapunov functional. The construction of such a functional is reduced to solving a Lur’e system of equations. A sufficient strict circle criterion of solvability of the latter is found, which is based on results...

On the circle criterion for boundary control systems in factor form: Lyapunov stability and Lur'e equations

Piotr Grabowski, Frank M. Callier (2005)

ESAIM: Control, Optimisation and Calculus of Variations

A Lur'e feedback control system consisting of a linear, infinite-dimensional system of boundary control in factor form and a nonlinear static sector type controller is considered. A criterion of absolute strong asymptotic stability of the null equilibrium is obtained using a quadratic form Lyapunov functional. The construction of such a functional is reduced to solving a Lur'e system of equations. A sufficient strict circle criterion of solvability of the latter is found, which is based on...

On the constrained controllability of dynamical systems with multiple delays in the state

Beata Sikora (2003)

International Journal of Applied Mathematics and Computer Science

Linear stationary dynamical systems with multiple constant delays in the state are studied. Their relative and approximate controllability properties with constrained controls are discussed. Definitions of various types of controllability with constrained controls for systems with delays in the state are introduced. Some theorems concerning the relative and the approximate relative controllability with constrained controls for dynamical systems with delays in the state are established. Various types...

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