Now showing items 1-10 of 26
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups, Part II: A General Constructive Control Algorithm
In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy the Lie algebra ...
Averaging and Motion Control On Lie Groups
The deeper investigation of problems of feedback stabilization and constructive controllability has drawn increased attention to the question of structuring control systems. Thus, for instance, it is interesting to know ...
Mechanical Systems with Partial Damping: Two Examples
We discuss the problem of constructing steady state motions of mechanical systems with partial damping. A planar three bar linkage with viscous damping at one of the joints is considered as an example. We show that for a ...
Adaptive Friction Compensation for Bi-Directional Low-Velocity Position Tracking
This paper presents a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance in the presence of velocity reversals for servomechanisms. The ...
Optimal Control of a Rigid Body with Two Oscillators
This paper is concerned with the exploration of reduction and explicit solvability of optimal control problems on principal bundles with connections from a Hamiltonian point of view. The particular mechanical system we ...
Motion Control and Coupled Oscillators
It is remarkable that despite the presence of large numbers of degrees of freedom, motion control problems are effectively solved in biological systems. While feedback, regulation and tracking have served us well in ...
On the Geometry and Dynamics of Floating Four-Bar Linkages
In this paper, we investigate the kinematics and dynamics of floating, planar four-bar linkages. The geometry of configuration space is analyzed through the classical theory of mechanisms due to Grashof. The techniques of ...
Analysis of a complex activator-inhibitor equation
Basic properties of solutions and a Lyapunov functionalare presented for a complex activator-inhibitor equation witha cubic nonlinearity.Potential applications include control of coupled-oscillator arrays(for quasi-optical ...
Computation for Nonlinear Balancing
We illustrate a computational approach to practicalnonlinear balancing via the forced damped pendulum example.
Control Problems of Hydrodynamic Type
It has been known for some time that the classical work of Kirchhoff, Love,and Birkhoff on rigid bodies in incompressible, irrotational flows provideseffective models for treating control problems for underwater vehicles.This ...