Results 231 to 240 of about 469,562 (265)

Robust fuzzy control of mechanical systems

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), 2002
This paper considers the problem of controlling a mechanical system described by Euler-Lagrange equations to follow a desired trajectory in the presence of uncertainties. A fuzzy logic system (FLS) is used to approximate the unknown dynamics of the system. Based on the a priori information, the premise part of the FLS as well as a nominal weight matrix
Yu Tang 0009, Daniel Vélez-Díaz
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Tracking control of mechanical systems with impacts

2012 American Control Conference (ACC), 2012
In this paper controllers are designed such that the state trajectories of mechanical systems with impacts converge to a reference trajectory that contains impacts. The impact times of the plant will typically not coincide with those of the reference, such that the Euclidean tracking error intrinsically behaves in an unstable manner.
J. J. Benjamin Biemond, Nathan van de Wouw, W. P. M. H. Heemels, Henk Nijmeijer   +3 more
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On the sliding mode control of mechanical systems

Comptes Rendus de l'Académie des Sciences - Series IIB - Mechanics, 2001
Abstract We consider the control of mechanical systems based on sliding mode control techniques. Recently developed simplex control methods are shown to converge in a finite time when applied to nonlinear systems under bounded deterministic uncertainty.
BARTOLINI, GIORGIO, PARODI, FRANCO, PUNTA, ELISABETTA, ZOLEZZI, TULLIO   +3 more
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MODELS OF MECHANICAL SYSTEMS FOR CONTROLLERS DESIGN

IFAC Proceedings Volumes, 1992
Abstract In the control of a mechanical system, such as the robot, it is important how to model the system for controller design. This paper first shows the general problems of modelling mechanical systems, in particular, the effects of the nonlinearities.
F. Arai, T. Fukuda, Y. Shoji, H. Wada
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Parametric Control of Conservative Mechanical Systems

Journal of Dynamic Systems, Measurement, and Control, 1996
Parametric excitation is used to control the vibration of a conservative mechanical system. The excitation is varied according to a quadratic, state feedback, control law. If the system has distinct eigenvalues and a full rank, diagonalizable, parametric control matrix, then the control law is asymptotically stabilizing.
Rahn, C. D., Mote, C. D. jun.
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Decentralized robust control of mechanical systems

IEEE Transactions on Automatic Control, 2000
This paper studies mechanical systems described by Euler-Lagrange equations and involving high-oder interconnections. The authors build a robust decentralized control for this mechanical system with a large scale. Physical interactions between subsystems (cooperative robots, large power plants) or control objective (air traffic control, automated ...
Yu Tang, Masayoshi Tomizuka, G. Guerrero, Gustavo Montemayor   +3 more
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Equivalence and equivariants of mechanical control systems

IEEE Conference on Decision and Control and European Control Conference, 2011
In this paper we characterise geodesically accessible mechanical control systems under state and mechanical state equivalence. To this end, we consider two families of structure functions which are equivariants for the mechanical state equivalence (and, more generally, for the state equivalence) of two mechanical control systems satisfying the geodesic
Witold Respondek, Sandra Ricardo
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Symmetrizable Systems in Mechanics and Control Theory

Journal of Applied Mechanics, 1992
Stability investigations of nonconservative systems MX¨ + BX˙ + CX = 0 in mechanics and control theory become substantially easier if the coefficient matrices B and C are either both real symmetric or both complex symmetric. It is therefore of interest to give conditions under which, by means of a similarity transformation, a system may be converted ...
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Mechanical systems and rendez-vous controllability

Proceedings of the 44th IEEE Conference on Decision and Control, 2006
Motivated by the study of the controlled Kepler problem, we analyze the controllability properties of some classes of mechanical systems. Consider a control system with drift. Our aim is to determine if, given a pair of initial states at a fixed initial time, assuming that the controller acts only on one of the two corresponding trajectories, it is ...
Alex Bombrun, Jean-Baptiste Pomet, Mario Sigalotti   +2 more
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A mechanism for information control in parallel systems

Proceedings of the seventh symposium on Operating systems principles - SOSP '79, 1979
Denning and Denning have shown how the information security of sequential programs can be certified by a compile-time mechanism [3]. This paper extends their work by presenting a mechanism for certifying parallel programs. The mechanism is shown to be consistent with an axiomatic description of information transmission.
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