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Parking a vehicle at a fixed configuration in the presence of motion curvature constraints is a well known problem of substantial practical meaning. It has been addressed in the robotic literature mostly in the context of planning an optimized path-to-goal or by computing open-loop controls for a vehicle. The paper presents a novel approach to the constrained set-point control for a mobile robot utilizing...
The paper contains a revised, and extended by new results, part of the author's PhD thesis. The main objects that we study are toric varieties naturally associated to special Markov processes on trees. Such Markov processes can be defined by a tree T and a group G. They are called group-based models. The main, but not unique, motivation to consider these processes comes from phylogenetics. We study...
In this paper we propose the robust sliding mode control strategy for the position control of a hoisting crane. The strategy employs the time-varying switching lines. Two alternative solutions are presented - for the line shifted with a constant velocity and for the line moving with a constant deceleration. Line parameters are optimally synthesized using the ITAE criterion, taking simultaneously into...
In this paper sliding mode control (SMC) of a hoisting crane is considered. The proposed control method employs a time-varying switching line which moves with a constant velocity and a constant angle of inclination to the origin of the error state space. Then, it stops moving and remains fixed. Since at the initial time the line consists of these points in the error state space which represent initial...
The paper presents unified framework of feedback motion control design with the Vector Field(s) Orientation (VFO) method for the articulated tractor-semitrailer vehicle in a context of trajectory tracking as well as set-point control problems. The work is an extension of the VFO control method for the nonholonomic systems with higher-dimensional state vector. Obtained control algorithm has an intuitive...
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