An approach to nonlinear feedback control with applications to robotics
نویسندگان
چکیده
منابع مشابه
non-corrective approach to pronunciation
the aim of this study has been to find answers for the following questions: 1. what is the effect of immediate correction on students pronunciation errors? 2. what would be the effect of teaching the more rgular patterns of english pronunciation? 3. is there any significant difference between the two methods of dealing with pronuciation errore, i. e., correction and the teaching of the regular ...
15 صفحه اولAn equation-Free Approach to Nonlinear Control: Coarse Feedback Linearization with Pole-Placement
We present an application of equation-free computation to the coarse-grained feedback linearization problem of nonlinear systems described by microscopic/stochastic simulators. Feedback linearization with pole placement requires the solution of a functional equation involving the macroscopic (coarsegrained) system model. In the absence of such a closed-form model, short, appropriately initializ...
متن کاملNonlinear Control of Underactuated Mechanical Systems with Application to Robotics
This thesis is devoted to nonlinear control, reduction, and classification of underactuated mechanical systems. Underactuated systems are mechanical control systems with fewer controls than the number of configuration variables. Control of underactuated systems is currently an active field of research due to their broad applications in Robotics, Aerospace Vehicles, and Marine Vehicles. The exam...
متن کاملFeedback Control of Sector - Bound Nonlinear Systems with Applications to Aeroengine Control
This dissertation is divided into two parts. In the first part we consider the problem of feedback stabilization of nonlinear systems described by state-space models. This approach is inherited from the methodology of sector bounded or passive nonlinearities, and influenced by the concept of absolute and quadratic stability. It aims not only to regionally stabilize the nonlinear dynamics asympt...
متن کاملObserver Based Dynamic Visual Feedback Control for Nonlinear Robotics Systems
This paper investigates a robot motion control problem with visual information. Firstly the model of the relativ erigid body motion (positions and rotations) and the method for the estimation of the relative rigid body motion are presented in order to derive the visual feedback system. Secondly we consider the velocit y observer and derive the dynamic visual feedback system which contains the m...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Systems, Man, and Cybernetics
سال: 1984
ISSN: 0018-9472,2168-2909
DOI: 10.1109/tsmc.1984.6313314