Robust stability and two-dimensional trajectory following problems are considered for n-link robotic systems with transmission delays. Such problems appear in telerobotics, where the controller is physically far from the robot, and in neural control of musculoskeletal (biological) systems, where muscle actuation and neural sensing are subject to time delays. A typical second-order nonlinear dyn...

Fault detection based on comparing a batch of data with a model of the system using the generalized likelihood ratio test is considered. Careful treatment of the initial state of the model is quite important, in particular for short batch sizes. There are two standard approaches to this problem. One is based on a parity space, where the influence of initial state is removed by projection, and t...

Fault detection based on comparing a batch of data with a model of the system using the generalized likelihood ratio test is considered. Careful treatment of the initial state of the model is quite important, in particular for short batch sizes. There are two standard approaches to this problem. One is based on a parity space, where the influence of initial state is removed by projection, and t...

This paper describes recent developments on the model identification and attitude control system for a Micmmechanical Flying lnsect (MFI). We include recently developed dynamical models for the thorax actuatom and various sensor models. Wing kinematic parameterization scheme was designed to generate feasible wing motions to decouple the body torques under the constraints of the thorax model. A ...

The optimal solution to the problem of driving the output of a single-input, single-output linear control system close to given waypoints is analyzed. Furthermore, this smooth interpolation is done while the state space is constrained by an infinite dimensional, non-negativity constraint on the derivative of the output spline function. For the case when the acceleration is controlled directly t...

In this paper the flatness [M. Fliess, J. Lévine, P. Martin, and P. Rouchon, Internat. J. Control, 61 (1995), pp. 1327–1361, M. Fliess, J. Lévine, P. Martin, and P. Rouchon, IEEE Trans. Automat. Control, 44 (1999), pp. 922–937] of heavy chain systems, i.e., trolleys carrying a fixed length heavy chain that may carry a load, is addressed in the partial derivatives equations framework. We paramet...

This article presents a flatness–based approach to the trajectory planning and feedforward control problem for the inviscid Burger equation with and without an additional quadratic nonlinearity. It uses the property of formal power series parameterizability of the underlying partial differential equation and uniform Euler–summability of the resulting power series to derive a parameterization of...

TO SPEECH RECOGNITION1 Aravind Ganapathiraju Jonathan Hamaker and Joseph Picone Conversay Inst. for Signal and Information Processing 15375 NE 90th St. Mississippi State University Redmond, WA, USA Mississippi State, MS 39762, USA [email protected] {hamaker, picone}@isip.msstate.edu ABSTRACT Statistical techniques based on hidden Markov Models (HMMs) with Gaussian emission densities ...