Feedback regulation of nonlinear dynamical systems inevitably leads to issues concerning static bifurcation. Static bifurcation in feedback systems is linked to degeneracies in the system zero dynamics. Accordingly, the obvious remedy is to change the system input-output structure, but there are other possibilities as well. In this paper we summarize the main results connecting bifurcation beha...

Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms of velocity fields; 2) designing controllers so that the manipulator when under feedback control, interacts in an energetically passive manner with its physical environment. Based on these two concepts, a new passive velocity field controller (PVFC) is proposed which mimics the...

this study evaluated the use of the solar dryer at esfahan agricultural research center for drying prunes. a factorial experiment was carried using a randomized complete block design with four replications. the four methods used to accelerate prune drying were: control group (no treatment), mechanical perforation at one week of drying, blanching, submersion in australian cold dip method. the dr...

The goal of this session is to survey some of the modern trends in nonlinear dynamics and control theory. The unifying theme of this session is the use of intrinsic dynamical properties of mechanical systems in the design of control strategies. In particular, geometric approaches to dynamics, optimization and control are presented. The following topics will be addressed: Hamiltonian systems on ...

Epithelial cells differentiate and polarize to build complete epithelial organs during development. The study of epithelial morphogenesis is instrumental to the understanding of disease processes where epithelial polarity is disrupted. Recently, we demonstrated that matrix-induced cell confinement controls the acquisition of three-dimensional epithelial polarity, by modulating the initiation of...

An approach for the design of fuzzy control laws for tracking control of a large class of mechanical systems is proposed. The approach employs the framework of Lyapunov’s stability theory to formulate a class of control laws that guarantee convergence of the tracking errors to within speci3cation limits in presence of bounded parameter uncertainties and input disturbances. The proposed control ...

Abstract-A program of studies of quantum mechanical control systems is initiated. Following the historical development of quantum mechanics, the quantum control model is obtained from a corresponding classical structure. Second order linear and bilinear control systems as well as first order linear control systems are investigated; it is further demonstrated that the analysis may be extended to...

A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and is robust with respect to parameter uncertainties. A simple method to find the parameters of the controller is also proposed. Moreover, an application of this result to control a 2-DOF unde...

We apply some recently developed control theoretic techniques to the analysis of a class of mechanical systems with constraints. Certain simple aspects of the theory of affine connections play an important part in our presentation. The necessary background is presented in order to illustrate how the methods may be applied. The bulk of the paper is devoted to a detailed analysis of some examples...