The optimal motion generation problem is solved subject to various actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy Jitnction while most of existing methods consider only the time-optimal problem. We present some simulation results using a mathematical programming technique (Sequential Quadratic Programming) e...

Wireless sensor-actuator networks (WSANs) refer to a group of sensors and actuators linked by a wireless medium to perform distributed sensing and acting tasks. In order to provide effective sensing and acting, coordination mechanisms are required among sensors and actuators. We have presented the architectural design of a self organizing coordination framework in [3]. The framework organizes t...

When designing control laws for systems with constraints on the tracking performance, control allocation methods can be utilized. Control allocation methods are used when there are more command inputs than controlled variables. Control allocators can be used to address surface saturation limits, structural load limits, drag reduction constraints, or actuator failures. Most transport aircraft ha...

This paper develops a computational technique for finding the maximum allowable load of mobile manipulators for a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints a...

This article presents an adaptive backstepping approach to the longitudinal (γ, α,Q) control of an aircraft that directly accommodates magnitude, rate, and bandwidth constraints on the aircraft states and the actuator signals. The article includes design of the control law, Lyapunov analysis of the stability properties of the closed loop system, and simulation based analysis of the performance.

This paper presents a proof of concept for a generic middleware for heterogeneous sensor/actuator networks, which enables ad-hoc discovery, self-description exchange and basic interactions between heterogeneous devices. The main approach is to represent each device by a device-agent which knows its capabilities, constraints and policies, and is able to describe those to other devices on request.