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Stellate Cells (SCs) of layer II of medial entorhinal cortex show both subthreshold oscillations (STOs) and mixed-mode oscillations (MMOs) at theta frequencies (8–12 Hz) under increased injection of depolarizing current. The conductance-based model of fully SCs model consists of seven-dimensional nonlinear equations, which imitate many properties of the oscillatory patterns observed in experimental...
For an underactuated biped on a constant-slope terrain, the hybrid zero dynamics (HZD) controller framework provides exponentially stable walking motions. In this paper, we quantify the stability of such a control system on rough terrain by estimating the expected number of steps before failure. In addition, we show how to switch between multiple HZD controllers (optionally using terrain look-ahead)...
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 a digital variable structure control algorithm, directly derived from a continuous one, previously presented by the authors, is considered. The proposed algorithm is able to perform the second order sliding mode control of a large class of uncertain second order nonlinear SISO systems. The discretization effects of the control law on the system behaviour are analyzed, and the sufficient...
This paper is devoted to the utility of the higher order sliding modes. Two particular properties will be discussed and respectively illustrated by the control of systems nonlinear with respect to the input and on the observer design.
In this paper, the problem of local output regulation is considered. The presented results answer the question: given a controller solving the local output regulation problem, how to estimate the set of admissible initial conditions for which this controller makes the regulated output converge to zero. Theoretical estimation results and an estimation procedure explaining the application of these results...
This paper deals with the problem of the practical stabilization of a unicycle-type mobile robot. The control strategy is divided into three steps and switches between different sliding mode controllers: a new third order sliding mode control with smooth manifolds that provides a practical stabilization and other sliding mode controls that perform finite time convergence (first order sliding mode...
The robustness features versus unmatched uncertainties of a hybrid variable structure control strategy for a class of second order systems are analyzed in this paper. The hybrid control relies on a subdivision of the system state space into nested regions, and on an event-driven switching among the control laws associated with each region. By componing globally stabilizing variable structure laws,...
This paper deals with minimum time stabilization for a single input system on the plane. The optimal and extremal synthesis have been studied in previous papers. Here we give a complete description of topological stable projection singularities for extremals on the plane and for extremals-time tuples on the graph of the minimum time function. It is known that the minimum time function satisfies the...
In this paper we present a sufficient condition for global observability of nonlinear systems on manifolds that generalizes Aeyels' global observability result for Morse-Smale systems. Our main theorem establishes global observability under considerably weaker assumptions than Aeyels' Morse-Smale condition. However, we have to assume additionally real analyticity of the system. With this result at...
This paper attempts to provide a tutorial mode presentation of a time-optimal transfer problem in the geometric framework. The control objective is to change both the orientation and position of a ball sandwiched between two plates in minimum time. The lower plate is fixed and the upper plate can be actuated in two lateral directions. In the geometric framework, the problem of time-optimal reorientation...
Large-scale power system dynamic analysis usually bears large storage and massive calculation burdens. Equivalence of complex excitation systems is an effective approach to decrease computational complexity with due accuracy. In this paper, we propose a two-stage Trust-Tech based method for deriving excitation system equivalence which aims to provide an optimal equivalent model which satisfies users'...
This paper investigates the trajectory tracking problem for quadrotor with finite-time convergence via geometric approach. Based on a global geometric dynamic description on SE(3), we decompose the finite-time trajectory tracking control into two cascaded tracking loops: the position finite-time tracking control loop and the attitude finite-time tracking control loop. A finite-time controller based...
In this paper, we analyze a formation control problem of two disk-shaped holonomic mobile robots without collision each other. We show that the tracking control problem can be reduced to sample stabilization of the origin of the nonlinear system defined on noncontractible manifold by exact linearization via coordinate transformation. We propose a tracking control method which is applying the Rifford-Sontag...
Takens' Embedding Theorem asserts that when the states of a hidden dynamical system are confined to a low-dimensional attractor, complete information about the states can be preserved in the observed time-series output through the delay coordinate map. However, the conditions for the theorem to hold ignore the effects of noise and time-series analysis in practice requires a careful empirical determination...
We introduce a novel approach to learn a humanoid interface by using observed human behaviors. We propose using the observed human movements to extract task-relevant degrees-of-freedoms (DOFs) so that we can construct the humanoid interface to generate high-dimensional humanoid movements by using low-dimensional user inputs. The extracted intrinsic DOFs are represented as a task-relevant manifold...
The problem of adaptive control of a single-axis vibratory gyroscope with drive motor is considered. Sliding mode with tuning surface control is designed. The design procedure, conditions of applicability, analysis of the stability of an adaptive control system and simulation results are presented.
This work proposes a method in order to choose suitable controllers supported by the measuring of the slipping and skidding variations, i.e., When the nonholonomic kinematic constraints are not fully satisfied. The rolling dynamics associated with the wheels are give as conditions related with variations of the slipping and the skidding. The variations are used to state formally a tool to measure...
Recently, intrinsically elastic joints became increasingly popular due to several reasons. Most importantly, elasticity improves impact robustness and, if used wisely, energy efficiency. Potential energy storage and release capabilities in the joints allow to outperform rigid manipulators by means of achievable peak link velocity. It has therefore been of great interest to find explosive or cyclic...
In this paper, we consider an object recognition problem based on tactile information using a robot hand. The robot performs an exploratory action to the object to obtain the tactile information, however, poorly designed actions may not be sufficiently informative. In contrast, if we could collect sample data by sequentially performing informative actions, i.e., active learning, the required time...
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