we consider an approximation scheme using haar wavelets for solving a class of infinite horizon optimal control problems (ocp's) of nonlinear interconnected large-scale dynamic systems. a computational method based on haar wavelets in the time-domain is proposed for solving the optimal control problem. haar wavelets integral operational matrix and direct collocation method are utilized to ...

In this paper, we introduce a new concept of trajectory array P system which consists of a membrane structure in which the objects are arrays and the evolutionary rules are given in terms of trajectories. We present some properties of trajectory array P system and compare with certain families of picture languages. We consider a variant of trajectory array P system and show that the languages g...

Given a nonstationary trajectory of the Navier–Stokes system, a finitedimensional feedback boundary controller stabilizing locally the system to the given solution is constructed. Moreover the controller is supported in a given open subset of the boundary of the domain containing the fluid and acts normal to the boundary. In a first step a controller is constructed that stabilizes the linear Os...

In the paper we present a solution to the optimal trajectory planning problem subject to constraints given by joint torques and velocities, and the task. The main result is a trajectory planning algorithm which enables the calculation of the optimal motion due to the given requirements and taking into account the dynamics of the manipulator. First, the dynamic model of the manipulator in the pa...

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajectory following, has been implemented and tested on an autonomous helicopter. Results from two flight experiments are presented. The trajectory tracking error is on the order of th...

Given a nonstationary trajectory of the Navier–Stokes system, a finitedimensional feedback boundary controller stabilizing locally the system to the given solution is constructed. Moreover the controller is supported in a given open subset of the boundary of the domain containing the fluid and acts normal to the boundary. In a first step a controller is constructed that stabilizes the linear Os...

One of the operational requirements for unmanned aerial vehicles is the autonomous navigation and control along a given sequence of waypoints, or along a predefined trajectory. Existing autonomous navigation procedures are mostly done in 3D because of the stringent certification requirements for 4D flight and due to the complexity in coping with time of arrival at waypoints, whilst actual fligh...

In the paper we present a solution to the optimal trajectory planning problem subject to constraints given by the actuator torques and velocities, and the task. The main result is a trajectory planning algorithm which enables the calculation of the optimal motion due to the given requirements and taking into account the dynamics of the manipulator. The dynamic model of the manipulator in the pa...

This paper is concerned with control of a 3 link planar underactuated manipulator that is known as a second order nonholonomic system. Since we have already proposed a control law that ensures convergence of its state to a desirable trajectory and to any desired final point, we propose a method of design of a desirable trajectory that starts from any given initial point, and then passes any giv...

in this paper, the range doppler algorithm (rda) for synthetic aperture radar moving on a ballistic trajectory is presented. the 3-dimension acceleration and non-uniform trajectory cause decreases in efficiency of conventional imaging algorithms. in this paper, the analytical expression for the 2-d signal spectrum for ballistic trajectory using taylor series expansion and series reversion is de...