Fractional positive asymptotically stable continuous-time linear systems are approximated by fractional positive asymptotically stable discrete-time systems using a linear Padé-type approximation. It is shown that the approximation preserves the positivity and asymptotic stability of the systems. An optional system approximation is also discussed.
This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the...
Recently, distributed convex optimization has received much attention by many researchers. Current research on this problem mainly focuses on fixed network topologies, without enough attention to switching ones. This paper specially establishes a new technique called averaging-base approach to design a continuous-time distributed algorithm for convex optimization problem under switching topology. This idea of using averaging was proposed in our earlier works for the consensus problem of multi-agent...