Abstract We consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the may be underactuated contain kinematic loops thus described by a set of differential-algebraic equations that cannot reformulated as ordinary differential in general. propose strategy combines feedforward controller based on servo-constraints approach wit...

We suggest that the fluctuations of strange hadron multiplicity could be sensitive to the equation of state and microscopic structure of strongly interacting matter created at the early stage of high energy nucleus–nucleus collisions. They may serve as an important tool in the study of the deconfinement phase transition. We predict, within the statistical model of the early stage, that the rati...

U NLIKE robust control, which chooses control gains based on a prior, fixed level of modeling uncertainty, adaptive control algorithms tune the feedback gains in response to the true plant and exogenous signals: that is, commands and disturbances. Generally speaking, adaptive controllers require less prior modeling information than robust controllers and thus can be viewed as highly parameter-r...

Consider a dynamical system u 7→ x, ẋ = fnl(x, u) where fnl is a nonlinear (convex or nonconvex) function, or a combination of nonlinear functions that can eventually switch. We present, in this preliminary work, a generalization of the standard model-free control, that can either control the dynamical system, given an output reference trajectory, or optimize the dynamical system as a derivativ...

Operational problems with robot manipulators in space relate to several factors, most importantly, structural flexibility and subsequent difficulties with their position control. In this paper we present control methods for endpoint tracking of a 12 6 12 6 m2 trajectory by a two-link robot manipulator. Initially, a manipulator with rigid links is modeled using inverse dynamics, a linear quadrat...

We propose a framework for inversion-based estimation of certain categories of faults in discrete-time linear systems. First, we develop a novel methodology for direct estimation of unknown inputs by using only measurements of either minimum or non-minimum phase systems as well as systems with transmission zeros on the unit circle. The unknown input is reconstructed from its projections onto tw...