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Control of Hysteresis in Smart Actuators with Application to Micro-Positioning
Hysteresis in smart material actuators makes the effective use of these actuators quite challenging. The Preisach operator has been widely used to model smart material hysteresis. Motivated by positioning applications of ...
Control of Small Formations Using Shape Coordinates
Formations that contain a small number of robots are modeled as controlled Lagrangian systems on Jacobi shape space. This allows a block-structured control of position, orientation and shape of the formation. Feedback ...