The snakeboard is shown to possess two decoupling vector fields, and to be kinematically controllable. Accordingly, the problem of steering the snakeboard from a given configuration at rest to a desired configuration at rest is posed as a constrained static nonlinear inversion problem. An explicit algorithmic solution to the problem is provided, and its limitations are discussed. An ad hoc solu...

The design of an advanced controller for wind turbine load mitigation is presented. The controller is based on Nonlinear Dynamic Inversion control methods combined with Pseudo Control Hedging to account for the actuator limits and a two degree of freedom control system for the collective pitch control of the rotor blades. The controller uses wind speed measurement information to adjust to wind ...

A technique to achieve output tracking for nonminimum phase nonlinear systems with nonhyperbolic internal dynamics is presented. The present paper integrates stable inversion techniques (that achieve exact-tra@ing) with approximation techniques (that modify the internal dynamics) to circumvent the nonhyperbolicity of the internal dynamics this nonhyperbolicity is an obstruction to applying pres...

For a class of uncertain nonlinear dynamical systems in Brunovsky form a dynamic inversion (DI) based adaptive control framework is developed that provides stable adaptation in the presence of input constraints. The proposed design methodology, termed “positive μ-modification”, protects the control law from actuator position saturation. Moreover, the design is Lyapunov based and ensures bounded...

We explore the polarization dependence of the nonlinear response of a planar nematic liquid crystal cell doped with 1% wt of methyl red dye. The results obtained show that the refractive index change can be switched from a positive value to a negative one as the polarization of the beam changes from parallel to perpendicular with respect to the rubbing direction. This property is exploited in a...

The Modelica Space Flight Dynamics Library has been developed as a unified environment to be used throughout the design cycle of the Attitude and Orbit Control System (AOCS) for a generic multibody, possibly flexible, spacecraft. The library architecture has been recently redesigned, exploiting at its best Modelica’s reusability, flexibility and modularity features. In this contribution the mai...

We derived the renormalized nonlinear sensitivity operator and the related inverse thin-slab propagator (ITSP) for nonlinear tomographic waveform inversion based on the theory of nonlinear partial derivative operator and its De Wolf approximation. The inverse propagator is based on a renormalization procedure to the forward and inverse transition matrix scattering series. The ITSP eliminates th...

Langrangian Support Vector Machine (LSVM) and Least Squares Support Vector Machine (LSSVM) are two quick and effective classification methods. In this paper, we first introduce the mathematical models for LSVM and LSSVM and analyze their properties. In the nonlinear case, Sherman-Morrison-Woodbury identity is not used to compute the inversion of a matrix. According to block computation of a mat...