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This paper presents a framework for designing a class of distributed, asynchronous optimization algorithms, realized as signal processing architectures utilizing various conservation principles. The architectures are specifically based on stationarity conditions pertaining to primal and dual variables in a class of generally nonconvex optimization problems. The stationarity conditions, which are closely...
In this paper a novel design for three-dimensional (3-D) contour controller is proposed. This design relies on dynamics projection to the moving Frenet-Serret frame defined for each point on reference trajectory. Contour controller consists of independent joint controller and additional sliding mode controller, added as corrective term. Control task is defined as contour tracking with constant tangential...
This paper is concerned with the inversion of implementations for systems that may generally be nonlinear and time-varying. Specifically, techniques are presented for modifying an implementation of a forward system, represented as an interconnection of subsystems, in such a way that an implementation for the inverse system is obtained. We focus on a class of modifications that leave subsystems in...
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