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检索条件"机构=DLR Institute of Robotics and System Dynamics"
140 条 记 录,以下是21-30 订阅
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Singularities in differential-algebraic systems with unilateral constraints
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ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik 2010年 第S3期78卷
作者: M. Arnold DLR Institute of Robotics and System Dynamics P.O. Box 1116 D - 82230 Wessling Germany
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...
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Computation of Kalman decompositions of periodic systems
Computation of Kalman decompositions of periodic systems
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2003 European Control Conference, ECC 2003
作者: Varga, A. German Aerospace Center DLR - Oberpfaffenhofen Institute of Robotics and System Dynamics WesslingD-82234 Germany
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... 详细信息
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Coprime factor reduction of H∞ controllers
Coprime factor reduction of H∞ controllers
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2003 European Control Conference, ECC 2003
作者: Varga, A. German Aerospace Center DLR - Oberpfaffenhofen Institute of Robotics and System Dynamics WesslingD-82234 Germany
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... 详细信息
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Application of an optimization-based design process for robust autoland control laws
Application of an optimization-based design process for robu...
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AIAA Guidance, Navigation, and Control Conference and Exhibit 2001
作者: Looye, Gertjan Joos, Hans-Dieter Willemsen, Dehlia German Aerospace Center DLR-Oberpfaffenhofen Institute for Robotics and Mechatronics D-82234 Wessling Germany DLR-Braunschweig Institute for flight system dynamics Germany
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... 详细信息
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Accuracy enhancing methods for the frequency-weighted balancing related model reduction
Accuracy enhancing methods for the frequency-weighted balanc...
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IEEE Conference on Decision and Control
作者: A. Varga B.D.O. Anderson Institute of Robotics and System Dynamics German AeroSpace Center DLR-Oberpfaffenhofen Wessling Germany Information Sciences and Engineering Australian National University Canberra ACT Australia
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... 详细信息
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On Robust Sensitivity Functions and Related Problems
On Robust Sensitivity Functions and Related Problems
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第十九届中国控制会议
作者: J.Ackermann Institute of Robotics and System Dynamics German Aerospace Research Center DLR-Oberpfaffenhofen D-82230 Wessling Germany
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... 详细信息
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Damping of vehicle roll dynamics by gain scheduled active steering
Damping of vehicle roll dynamics by gain scheduled active st...
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1999 European Control Conference, ECC 1999
作者: Ackermann, Jurgen Odenthal, Dirk DLR German Aerospace Center Institute of Robotics and System Dynamics WesslingD-82230 Germany
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 ... 详细信息
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Nonlinear steering and braking control for vehicle rollover avoidance
Nonlinear steering and braking control for vehicle rollover ...
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1999 European Control Conference, ECC 1999
作者: Odenthal, Dirk Bunte, Tilman Ackermann, Jurgen DLR German Aerospace Center Institute of Robotics and System Dynamics Oberpfaffenhofen WesslingD-82230 Germany
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... 详细信息
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An overview of hybrid simulation phenomena and their support by simulation packages  1
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2nd International Workshop on Hybrid systems: Computation and Control, HSCC 1999
作者: Mosterman, Pieter J. Institute of Robotics and System Dynamics DLR Oberpfaffenhofen P.O. Box 1116 WesslingD-82230 Germany
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... 详细信息
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A fast and robust grasp planner for arbitrary 3D objects
A fast and robust grasp planner for arbitrary 3D objects
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IEEE International Conference on robotics and Automation (ICRA)
作者: Ch. Borst M. Fischer G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany
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 ... 详细信息
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