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This contribution reviews theory, algorithms, and validation results for system identification of continuous-time models from finite non-uniformly sampled input-output sequences. The algorithms developed are autoregressive methods, and methods of stochastic realization adapted to the continuous-time context. The resulting model can be decomposed into an input-output model and a stochastic innovations...
This article presents a linear, iterative method to solve the eye-to-hand calibration problem between a wrist-mounted laser scanner and the tool flange of a robot. Measurement data are acquired from a set of non parallel planes whereafter the plane equations and desired rigid transformation matrix are found in a two-step, iterative fashion. The method is shown to handle large error in the initial...
This paper presents theory, algorithms and validation results for system identification of continuous-time state-space models from finite input-output sequences. The algorithms developed are methods of subspace model identification.
Homogeneous charge compression ignition (HCCI) is a promising internal combustion engine concept. It holds promise of combining low emission levels with high efficiency. However, as ignition timing in HCCI operation lacks direct actuation and is highly sensitive to operating conditions and disturbances, robust closed-loop control is necessary. To facilitate control design and allow for porting of...
Partially premixed combustion (PPC) is a combustion concept with similarities to both Diesel and Homogeneous Charge Compression Ignition (HCCI) combustion. It provides a combustion mode with better controllability than HCCI without increasing the emissions of nitrogen oxides and soot to the level of traditional Diesel engines. The model described in this paper aims to describe the main features of...
This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. The cerebellar controller is a modified MOSAIC model which adaptively controls the arm. We call this model ORF-MOSAIC (Organized by Receptive Fields MOdular Selection And Identification for Control). The arm features a musculoskeletal model which is controlled through muscle activations by means of optimization...
This paper presents algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. The system stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. It is also shown how optimal control...
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