In this paper, the Linear Constrained Regulation Problem for continuous-time systems will be studied and a design algorithm for a linear constrained feedback controller will be developed. Both state and control vector...
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In this paper, the Linear Constrained Regulation Problem for continuous-time systems will be studied and a design algorithm for a linear constrained feedback controller will be developed. Both state and control vectors are assumed to be subjected to linear constraints The approach presented, is based on the notion of positive invariance of polyhedral sets. Existence conditions for a control law that transfers asymptotically to the origin all initial states in a polyhedral subset of the state space is formulated. Then, a solution to the LCRP is derived solving a non-linear optimization problem
In this paper several techniques are given for the identification of stable LSI discrete time systems from input-output data. Explicit H ∞ norm error bounds are given and convergence in the noise free and the unifor...
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In this paper several techniques are given for the identification of stable LSI discrete time systems from input-output data. Explicit H ∞ norm error bounds are given and convergence in the noise free and the uniformly bounded deterministic noise case are established. The assumptions made on the unknown system are minimal and are limited throughout the paper to a lower bound on the decay rate of the unknown system and an upper bound on the gain of the unknown system. Given this information an experiment and a construction are specified: the experiment involves obtaining a specified number of frequency measurements of the unknown systems at a set of specified frequencies; the construction uses this experimental data to generate an identified model with prescribed H ∞ norm error tolerance to the unknown system. The resulting model identification process is highly efficient from a computational point of view.
This paper is a condensed version of recent work [17] wherein several fundamental practical concerns pertaining to the use of linear, time-invariant, distributed parameter systems as models of physical processes are i...
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This paper is a condensed version of recent work [17] wherein several fundamental practical concerns pertaining to the use of linear, time-invariant, distributed parameter systems as models of physical processes are investigated. In particular, it is argued here that certain common distributed parameter systems exhibit properties which make them unsuitable for use as plant models in the design of feedback compensation. Classes of distributed parameter systems exhibiting these properties are defined and are said to be ill-posed for use in feedback compensator design. The structure of these classes is investigated within an extremely general mathematical framework which imposes no a priori restrictions on the class of distributed parameter systems under consideration. Within this framework necessary and sufficient conditions are given which completely characterise the classes of ill-posed models and establish their equivalence. These conditions are concretely illustrated by way of applications to several well-known flexible structure models. Surprisingly, several of these models are determined to be ill-posed for use in feedback compensator design.
A robotic system that can visually track and intercept an arbitrary object which is traveling in 2‐D at an unknown velocity on a conveyor is to be presented. An eye‐in‐hand vision system developed by the robotics a...
This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback ...
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This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.
The use of multisensor integration and fusion enables a multisensor-based mobile robot to operate in uncertain or unknown dynamic environments. After first distinguishing between multisensor integration and the more r...
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A flexible robotic system with intelligent sensory capability which can be used in an industrial environment to autonomously perform sophisticated manufacturing tasks that are typically done by manual labor is present...
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Issues concerning the effective integration of multiple sensors into the operation of intelligent systems are presented, and a description of some of the general paradigms and methodologies that address this problem i...
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In this paper, the usefulness of applying the complex as well as ordinary moment features for similar object recognition using a tactile array sensor has been explored. Some complex moment invariants have been derived...
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