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The paper proposes a predictive control law for orbital rendezvous hovering phases. The proposed algorithm provides an impulsive control that steer the vehicle to a set of the periodic relative orbits enclosed in a hovering zone. The control law is computed by determining a point lying in the intersection between a semi-algebraic set and a hyperplane using an alternating projections algorithm. The...
This paper deals with the problem of interpolation of generated end-effector trajectories for application in robotics. For complex shaped trajectories there are often many high resolution coincident points generated from CAD/CAM systems or trajectory generators. The preprocessing (refining) is necessary for proceeding these points to the manipulator control system. Two interpolation methods are discussed:...
This contribution presents a new method for the prevention of problems caused by saturating sensors in an otherwise linear loop. Different from the known anti-windup schemes for input constraints the compensator is not stabilized during saturation, as this can lead to a deadlock situation in case of persistent disturbances. The new approach also does not use the modification of the linear part of...
Similarity-based approach is a popular data-driven prognostic method for Residual Useful Life (RUL) Prediction. The principle of this approach is based on the “similarity” between the monitored part, i.e., the sample whose the RUL has to be predicted and degradation reference trajectory patterns (or known library of a priori degradation functions). The challenge addressed in this paper concerns the...
In this work, we propose a method to compute the poles of the linear approximation to a nonlinear system, locally around a stable equilibrium point. The method uses periodic inputs, just like hermonic identification of linear systems. We show in passing that the class of Wiener-Hammerstein systems is but a small subset of the collection of all nonlinear control systems, locally around a hyperbolic...
The RRT* algorithm has efficiently extended Rapidly-exploring Random Trees (RRTs) to endow it with asymptotic optimality. We propose Goal-Rooted Feedback Motion Trees (GR-FMTs) that honor state/input constraints and generate collision-free feedback policies. Given analytic solutions for optimal local steering, GR-FMTs obtain and realize safe, dynamically feasible, and asymptotically optimal trajectories...
In this paper we investigate the bifurcation and chaos in a fractional-order simplest electrical circuit composed of only three circuit element: a linear passive capacitor, a linear passive inductor and a nonlinear active memristor with two degree polynomial memristance and a second order exponent internal state. It is shown that this fractional circuit can exhibit rich nonlinear dynamics such as...
In this paper, a data-driven update or design method of desirable state feedback gains is presented. By utilizing the “canonical controller” developed in the behavioral framework, we derive a fundamental kernel representation of the canonical controller which yields a desirable state feedback gain and is also compatible with the trajectory of the system. We also show that such a kernel representation...
This paper proposes a trajectory generation method for mobile robots based on trajectory segment extension. The trajectory for mobile robot must be generated by depending on the conditions during the robot traveling. Such conditions to design the trajectory are given when the robot comes around those locations and are not provided before arriving around there. From this point of view, we have started...
This paper deals with invariant set analysis for discrete-time polynomial nonlinear feedback single input and single output systems with dynamic quantizers where the control input signal takes discrete values. The paper starts with invariant set analysis for discrete-time polynomial nonlinear systems with bounded disturbances. Since the quantization error is also bounded, analysis of feedback systems...
Autonomous navigation of generic monocular quadcopter in the natural environment requires sophisticated mechanism for perception, planning and control. In this work, we have described a framework which performs perception using monocular camera and generates minimum time collision free trajectory and control for any commercial quadcopter flying through cluttered unknown environment. The proposed framework...
We present a new approach to the design of smooth trajectories for quadrotor unmanned aerial vehicles (UAVs), which are free of collisions with obstacles along their entire length. To avoid the non-convex constraints normally required for obstacle-avoidance, we perform a mixed-integer optimization in which polynomial trajectories are assigned to convex regions which are known to be obstacle-free....
This paper proposes a method called Segmentation-adaptive Pseudospectral collocation to address the problem of safe trajectory generation in missions with cooperating multiple aerial vehicles. Pseudospectral collocation can generate optimized collision-free trajectories, but for multiple aerial vehicles it cannot guarantee that the safety separation distance is maintained in the whole trajectories,...
The paper contains a detailed analysis of the application of the passification approach to the problem of rendering the hyperbolic upright equilibrium of the simplified model of the Furuta pendulum globally attractive. It is shown that any smooth feedback control passifying the system with the naturally defined storage functions does not provide the desired property. Based on the idea of the VSS-like...
In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the “certainty equivalence type”...
In this paper, we consider dissipativeness and a spectral factorization for discrete time behavioral systems. At first, we briefly study dissipativeness of discrete time behavioral systems based on quadratic difference forms[KF2]. Next, we expand the spectral factorization for continuous time symmetric matrix polynomials derived in [GT] into discrete time via quadratic difference forms.
A novel formulation of linear model-based predictive control is presented. Predicted flat output trajectories and stabilization around these trajectories constitute the main components of our predictive control approach. A simple dc motor and a cement mill model illustrate the principal features of the method.
In Pugh et. al. (1998), fundamental equivalence between AutoRegressive (AR) — representations has been defined. Actually two AR-representations are defined to be fundamentally equivalent in case there exists a bijective polynomial differential map between its behaviours. In this paper, it is shown how to reduce an AR-Representation to a fundamental equivalent realization in descriptor form.
The purpose of this paper is to present a new methodology to control current-fed induction motor. This approach results from a combination of the differential flatness properties and the monovariable Generalized Predictive Control with Multiple Reference Model (GPC/MRM) algorithm. The chosen outputs: the rotor speed and the square of the rotor flux modulus, with respect to the motor modeling, lead...
This paper presents a simple adaptive controller which universally achieves so-called X-tracking for linear systems where only little structural information about the system to be controlled is needed. The paper extends previous results to the case of systems with higher relative degree. Stability and convergence of the adaptation is proven for tracking arbitrary but sufficiently smooth reference...
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