Inequality (unilateral) constraints may introduce various types of singularities in differential-algebraic systems ([5]). In the present paper we consider contact conditions that are formulated as unilateral constrain...
Inequality (unilateral) constraints may introduce various types of singularities in differential-algebraic systems ([5]). In the present paper we consider contact conditions that are formulated as unilateral constraints for position and velocity coordinates in a mechanical multibody system. If the surfaces of the bodies being in contact are worn then the contact conditions result often in constraints that are only piecewise differentiable. We discuss a regularization that considers qualitatively the elastic deformation of the bodies.
We consider the numerically reliable computation of reachability and observability Kalman decompositions of a periodic system with time-varying dimensions. These decompositions generalize the controllability/observabi...
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We consider the efficient solution of the coprime factorization based H∞ controller approximation problems by using frequency-weighted balancing related model reduction approaches. It is shown that for a class of fre...
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The design of a robust autoland controller using an optimization based design process is described. A modular controller architecture is developed first. Inner loops are based on Dynamic Inversion, speed and longitudi...
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In this paper we develop computational techniques with enhanced accuracy for two frequency-weighted model reduction approaches, namely, balanced truncation, and singular perturbation approximation. New stability-enfor...
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In this paper we develop computational techniques with enhanced accuracy for two frequency-weighted model reduction approaches, namely, balanced truncation, and singular perturbation approximation. New stability-enforcing choices of the frequency-weighted grammians can guarantee the stability of reduced models for two-sided frequency weights. Several numerical examples show the effectiveness of the new approximation techniques.
In this paper, we prove that, for an interval system, the maximal H ∞ norm of its sensitivity function is achieved at twelve (out of sixteen) Kharitonov vertices. We also study the envelope of the Nyquist plots gener...
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In this paper, we prove that, for an interval system, the maximal H ∞ norm of its sensitivity function is achieved at twelve (out of sixteen) Kharitonov vertices. We also study the envelope of the Nyquist plots generated by a family of stable transfer functions with multilinearly correlated uncertainties and show that the outer Nyquist envelope is generated by the Nyquist plots of the vertices of this family. We then apply this result to calculating the maximal H ∞ norm and verifying the strict positive realness condition for uncertain transfer function families.
Active steering is applied to robustly reduce the rollover risk of vehicles with an elevated center of gravity. An actuator sets an auxiliary steering angle which is mechanically added to the steering angle commanded ...
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Steering and braking control is applied to avoid rollover of road vehicles. The control concept presented is composed of three feedback loops: Continuous operation steering control, emergency steering control and emer...
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Hybrid systems combine continuous behavior evolution specified by differential equations with discontinuous changes specified by discrete event switching logic. Numerical simulation of continuous behavior and of discr...
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In order to grasp and manipulate real world objects, grasp planning systems are required, and they have to be very fast in order to be integrated in online planning systems for robots. This paper presents a method to ...
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In order to grasp and manipulate real world objects, grasp planning systems are required, and they have to be very fast in order to be integrated in online planning systems for robots. This paper presents a method to compute a desirable grasp quality measure very fast and accurately. Based on this measure a heuristic approach towards fast planning of precision grasps for arbitrarily shaped 3D objects is described. A number of feasible grasp candidates are generated heuristically. These grasp candidates are qualified using the described grasp quality measure and the best candidate is chosen. The planned grasps are robust with respect to grasp placement. It is shown that only a relatively small number of grasp candidates has to be generated in order to obtain a good, although not optimal, grasp.
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