Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry challenging tasks. Most of the current works assume that robot model is precise enough task at hand. However, increasing demands and safety requirements robotic applications, there a need controller compensates online inaccuracies. We propose adaptive based on quadr...

We derive an effective Hamiltonian for a quantum system constrained to a submanifold ~the constraint manifold! of configuration space ~the ambient space! by an infinite restoring force. We pay special attention to how this Hamiltonian depends on quantities which are external to the constraint manifold, such as the extrinsic curvature of the constraint manifold, the curvature of the ambient spac...

We discuss problems of functional integral formalisms in a constrained fermionic Fock space. A functional integral is set up for the Hubbard model using generalized coherent states which lie either in the constrained or in the full Fock space. The projection for the latter states is implemented through a reduction of the charge fluctuations which induce transitions between the constrained and f...

In this research, a new method named δ to solve non-linear constrained and un optimal control problems for trajectory optimization was proposed. The main objective of defined as solving by the combination orthogonal functions, heuristic techniques, principles theory. Three functions Fourier, Chebyshev, Legendre were considered approximate variables. Also, GA-PSO imperialist competition algorith...