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In this paper, the main attention is focused on transient property of control input signal, we propose a novel model reference adaptive control scheme for time-continuous single-input single-output linear systems with input saturation. To improve a control performance, a novel estimator using an observer for the output tracking error signal is proposed. Using the estimator, it is shown theoretically...
In this paper, we introduce a cleaner-robot, which has arm-like mechanism for vacuum cleaning, and we also propose the control method, which realizes complex task with the cleaner-robot. This method is based on the real-time optimization for nonlinear dynamical systems. Our method has three features. The first is to include penalty concerning main body of robot and arm in performance index. The second...
In this paper, we deal with an obstacle avoidance control for a PVTOL (Planar Vertical Takeoff and Landing) aircraft. One of the effective approaches is to formulate such a problem in the framework of optimal control with penalties in the cost functions, and thus any existing optimal control design method is applicable. Based on the dasiavirtual spacepsila approach, we formulate the obstacle avoidance...
The ultrafast electron-phonon coupling dynamics due to a breather soliton inducing amplitude and frequency modulations after photoexcitation in trans-polyacetylene was observed by ultrafast multicolor spectroscopy. The results were in good agreement with recent theoretical predictions.
We propose methods for segmenting a motion sequence into motion primitives, taking into account temporal constraints (continuity along the time axis). In the proposed methods, dynamic programming (DP) is used on a motion feature sequence to allow for the effects of these constraints on the results of the segmentation. The methods do not require such a running window along the time axis, as is typical...
In this paper, we consider stability analysis and design for switched systems consisting of linear descriptor systems that have the same descriptor matrix. When all descriptor systems are stable, we show that if the descriptor matrix and all the subsystem matrices are commutative pairwise, then the switched system is stable under arbitrary switching. This is an extension of the existing well known...
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