This paper deals a tracking trajectory controller design of a tricycle robot as a non-holonomic system with a piecewise multi-linear (PML) model. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PML control system. We also apply a method for a tracking control based on PML models to the tricycle robot. Although the controller ...

The problem of stabilization and trajectory tracking of feedback linearizable systems in the presence of input saturation is considered in this paper. The need to perform output tracking for nonlinear systems dictates the choice of feedback linearization in our control design. Explicit characterization of the space of feasible trajectories that can be tracked using bounded inputs is provided.

Abstract: We propose the stabilization of nonlinear systems with singularities via switching piecewise bilinear (PB) control. The approximated model is fully parametric. Input-output (I/O) feedback linearization is applied to stabilize PB control systems. We construct piecewise Lyapunov-like function for each piecewise region and stabilize the state space using a hybrid control method. Examples...

The problem of invariant output tracking is considered: given a control system admitting a symmetry group G, design a feedback such that the closed-loop system tracks a desired output reference and is invariant under the action of G. Invariant output errors are defined as a set of scalar invariants of G; they are calculated with the Cartan moving frame method. It is shown that standard tracking...

Traditional methods for deep NLG adopt pipeline approaches comprising stages such as constructing syntactic input, predicting function words, linearizing the syntactic input and generating the surface forms. Though easier to visualize, pipeline approaches suffer from error propagation. In addition, information available across modules cannot be leveraged by all modules. We construct a transitio...

Syntactic linearization algorithms take a bag of input words and a set of optional constraints, and construct an output sentence and its syntactic derivation simultaneously. The search problem is NP-hard, and the current best results are achieved by bottom-up bestfirst search. One drawback of the method is low efficiency; and there is no theoretical guarantee that a full sentence can be found w...