This paper is devoted to a unified approach to trajectory tracking control of nonholonomic port-controlled Hamiltonian systems via generalized canonical transformations. The key idea is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. This strategy works for both holonomic and nonholonomic port-controlled Hamilton...

Due to the open nature of Free/Libre/Open Source software projects, researchers have gained access to a rich set of development-related information. Although this information is publicly available on the Internet, obtaining and analyzing it in a convenient way is not an easy task and many considerations have to be taken into account. In this paper we present the most important data sources that...

The proposed system provides real time tracking application that provides location of the mobile unit to the fixed control unit as well as display advertisements. The location of the object is seen on the map on the computer interfaced with the central unit. The ZigBee module designed to operate within the ZigBee protocol to support GPS tracking system in terms of latitude and longitude. The mo...

Gaze tracking is a camera-vision based technology for identifying the location where a user is looking. In general, a calibration process is applied at the initial stage of most gaze tracking systems. This process is necessary to calibrate for the differences in the eyeballs and cornea size of the user, as well as the angle kappa, and to find the relationship between the user's eye and screen c...

This paper presents a grid connected photovoltaic system, which acts as both power generator and active power filter (APF), based on Flying Capacitor Multicell (FCM) converter. Increase in the number of output voltage levels, natural self-balancing of flying capacitors and dc link voltage and lower power rating of components are the main futures of FCM converter compared with conventional multi...

This paper presents a grid connected photovoltaic system, which acts as both power generator and active power filter (APF), based on Flying Capacitor Multicell (FCM) converter. Increase in the number of output voltage levels, natural self-balancing of flying capacitors and dc link voltage and lower power rating of components are the main futures of FCM converter compared with conventional multi...

In this research, an automatic control system is designed for landing of a small helicopter on a 4 DOF moving platform. The platform has three translational and one directional degree of freedom. The controller design approach is based on development of helicopter nonlinear dynamic model into the SDC (State Dependent Coefficient) form and real time solving of state dependent Riccati equation (S...

This paper describes a synergistic integration of a grasping simulator and a real-time visual tracking system, that work in concert to 1) find an object’s pose, 2) plan grasps and movement trajectories, and 3) visually monitor task execution. Starting with a CAD model of an object to be grasped, the system can find the object’s pose through vision which then synchronizes the state of the robot ...

The paper deals with the tracking problem for multi-input multi-output systems under unknown smooth external disturbances within the framework of the block approach. The paper introduces the notion of the joint block-canonical form of controllability and observability of linear systems with respect to the output. Based on this form, decomposition algorithms of the synthesis of an invariant trac...

In this paper, a chattering-free sliding-mode control is mainly proposed in a second-order discrete-time system. For achieving this purpose, firstly, a suitable control law would be derived by using the discrete-time Lyapunov stability theory and the sliding-mode concept. Then the input constraint is taken into account as a saturation function in the proposed control law. In order to guarantee ...