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Variational integrators are well-suited for simulation of mechanical systems because they preserve mechanical quantities about a system such as momentum, or its change if external forcing is involved, and holonomic constraints. While they are not energy-preserving they do exhibit long-time stable energy behavior. However, variational integrators often simulate mechanical system dynamics by solving...
High-Squint Mode SAR Imaging poses a greater challenge when compared to broadside SAR due to squint induced azimuth Doppler. The problem becomes more complex when motion errors arise in the flight path, affecting the antenna position with respect to the target region. The paper proposes an Extended Omega-K Algorithm where squint correction and motion error compensation is performed for varying flight...
The article deals with the design of a feedforward controller for a transport system with spatially distributed control input considering input constraints. The feedforward controller is used to compensate transport delays in the input-/output (I/O) behavior of the transport system by realizing exact trajectory tracking of the nominal output along desired trajectories. The proposed method is based...
In this paper, an algorithm to plan a continuous wind-optimal path is proposed, and simulations are made for aircraft trajectories. We consider a mobile which can move in a two dimensional space. The mobile is controlled only by the heading direction, the speed of the mobile is assumed to be constant. The objective is to plan the optimal path avoiding obstacles and taking into account wind currents...
Currently in robotics field, various new forms of robots are emerged that are different from existing robots. One of them is the mobile robot having a tensegrity structure. In this paper, the tensegrity is employed for a design of a mobile robot that can be used in irregular environment. But the tensegrity structure is highly nonlinear; so it is very difficult to control. In order to deal with this...
This paper presents a new adaptive nonlinear control for trajectory tracking of non-affine nonlinear systems. The referred proposed controller which is based on a L2 norm prescribed to minimize a trajectory tracking error has adaptive and optimal characters. Moreover with the systems output feedback, the proposed controller which dose not require any knowledge of nonlinear internal dynamics can be...
In this paper, a multi-surface sliding control (MSSC) is proposed for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an iterative MSSC design can be carried out to control flight. Using MSSC on MIMO autonomous flight systems creates confluent control that can account for model mismatches, system...
Lotka-Volterra equations describe the population relationship between two species, i.e., predator and prey. In many circumstances, it is necessary to introduce a control method into such a predator-prey system. Different from traditional methods, by applying Zhang-gradient (ZG) method and using interaction coefficients of Lotka-Volterra equations as inputs, the population control problem of the predator-prey...
Due to the ubiquity of GPS enabled devices and the advances in sensing technologies, trajectory data has become abundant. Regions of interest are important since they describe specific hot-spots within the data that often correlate with domain specific phenomena. Traditional region of interest mining utilises grid based rasters to model space. This suffers from two main problems: hard to determine...
With the advances of wireless technologies, moving objects or users equipped with sensors are located and tracked by wireless sensor networks. Recommendations for the direction and route in exhibition by analyzing and mining the user's movement behavior can be conducted. In this paper, we study how to mine the data of historical trajectories and develop an approach which can guide the users. When...
In this paper, a multi-variable nonlinear control of a twin rotor aerodynamical system (TRAS) is presented. A control-oriented state-space model with four states is derived employing Lagrange's equations. Using this system representation, a multi-variable flatness-based control is designed for an accurate trajectory tracking concerning both the pitch angle characterising the vertical motion and the...
Studying the behavior of a 2-link elastic robotic arm as a manipulator is the purpose of this article. So, all parts of an experimental set up like aluminum links, AC servo motor and its driver, DC motor, strain gauge sensors, high speed digital to analog convertor (DAC) components on an electrical interface board and National Instrument's LABVIEW software package are gathered. In this paper, it is...
This paper deals with the task assignment problem, which represents a major issue in dynamical formation control. The formation is defined in terms of a group of homogeneous dynamical agents. The position of each agent in the formation is predetermined by pre-imposing the distance between each pair of agents. Recently by using set-theoretic methods, the task assignment has been formulated in terms...
The “delay scheduling” procedure is a recent concept for the design of control system. “Delay scheduling” strategy manipulates existing delays in the feedback as a control parameter which is increasing in order to recover stability. Indeed, the system should have many stable regions in the time delays domain. To do this, a recent procedure, Cluster Treatment of Characteristic Roots (CTCR) is deployed,...
S-system is a commonly used model for dynamic biological system. However, due to technical limitations, biological reaction networks are often only partially observable, which indicates that not all individuals incorporated in the model can be measured directly. Given a limited amount and quality of experimental data, it cannot be assured that the model structure and parameters can be estimated unambiguously...
As the sliding parameter of track is hard-to-measure when Agricultural Tracked Robot (ATR) is moving in complicated farmland environment, an estimation method for sliding parameters of ATR based on UKF is proposed. A kinematics equation and a measurement equation of ATR are deduced by kinematics principle, and then the precision position parameters of ATR is calculated. Sliding parameters which cannot...
This paper presents an approach to shank-foot trajectory control using computed-torque control method. The aim is to provide rehabilitative measures to help patients with lower limb disorders improve their mobility performance. This measure is achieved by designing a desired trajectory to be followed by the shank-foot model for the rehabilitative purpose. The shank-foot model is designed to depict...
In this paper we propose a new skill learning framework based on fusing prior knowledge with programming by demonstration and explorative learning methodologies. Prior knowledge as well as all partially known models guide the search process within the proposed adaptation method. The proposed methodology is based on algorithms originating in iterative learning control and reinforcement learning. The...
This paper studies the generalization of composite nonlinear feedback (CNF) control using arbitrary order set point filters, which focus on the initial stage of the transient response. The set point filters can be used to provide more performance by shortening the rise and settling times of the control system. Furthermore, the filters operate outside the feedback loop, and hence, they do not sacrifice...
Managing the working time (tact-time) is important to improving the efficiency of a production line using industrial robots. Therefore, the tact-time must be managed exactly. However, a feedback system generates a phase delay. Consequently, managing the designed tact-time exactly is difficult. To solve this problem, this paper proposes Final-State-Control (FSC) based on high-speed positioning control...
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