Recently, according to growth and concentration of population in urban area, congested situations at several railway stations in rush hour become a serious social issue. Therefore, designing the station more comfortably for the passengers has been desired. In other words, in order to mitigate the congested situations, a method measuring crowds flow characteristics should be developed. In this p...

It is well known that the linear feedback of the quar-ternion of the attitude error and angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be replaced by a nonlinear lter of the quaternion, thus removing the need of direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent ...

Many human and animal tasks are thought to be controlled with the t informational variable. It is widely accepted that controlling the rate of change of t (tau) during decelerative tasks, such as when braking or landing, is one common perceptual control strategy. However, many tasks require accelerating before decelerating to a goal, such as reaching. An advancement of t theory shows how a sing...

Periodic adiabatic rapid passage from counterpropagating light pulses is used in a parameter domain outside of the conventionally expected successful range to produce large optical forces on atoms by coherent control of the momentum exchange between the light and atoms. Both the magnitude and velocity range are much larger than those of the usual radiative force. We observed the force on metast...

We derive optimality conditions for the paths of a Dubins vehicle when the state space is partitioned into two patches with different vehicle’s forward velocity. We recast this problem as a hybrid optimal control problem and solve it using optimality principles for hybrid systems. Among the optimality conditions, we derive a “refraction” law at the boundary of the patches which generalizes the ...

This paper deals with the problem of encircling a moving target with a fleet of unicycle-like vehicles. A new control law is developed to steer the vehicles to a circular formation whose center tracks the target. The novelty of this paper lies in the fact that the control law only uses the velocity of the target and the relative positions of the agents with respect to it, expressed in the local...

The problem of angular velocity of rotor and voltage control in synchronous generator machines is considered. As a robust solution of this problem the block control technique with sliding mode is proposed. The physical implementations of the proposed control law for the real synchronous machines results in chattering due to the presence of exciter unmodelled dynamics. In order to reduce the cha...

Nonlinear observers for estimation of lateral and longitudinal velocity of automotive vehicles are proposed. The observers are based on a sensor suite that is standard in many new cars, consisting of acceleration and yaw rate measurements in addition to wheel speed and steering angle measurements. Two approaches are considered: first, a modular approach where the estimated longitudinal velocity...

In this paper we present decentralized control policies for spacecraft formation, based on the simple idea of cyclic pursuit. First, we extend the existing cyclic-pursuit control laws devised for a single integrator to a double integrator. Such dynamically extended control laws only require relative measurements of position and velocity of two leading neighbors, and allow spacecraft to converge...

For optimal control problems satisfying convexity conditions in the state as well as the velocity, the optimal value is studied as a function of the time horizon and other parameters. Conditions are identified in which this optimal value function is locally Lipschitz continuous and semidifferentiable, or even differentiable. The Hamilton-Jacobi theory for such control problems provides the fram...