Tracking Control of Robotic Multi-Body Systems
Journal Title: RECENT - Year 2012, Vol 13, Issue 35
Abstract
This paper presents a simple methodology for obtaining the entire set of continuous controllers that cause a nonlinear dynamical system to exactly track a given trajectory. The trajectory is provided as a set of algebraic differential equations that may or may not be explicitly dependent on time. The method provided is inspired by results from analytical dynamics and the close connection between nonlinear control and analytical dynamics is explored. The results provided in this paper here yield new and explicit methods for the control of highly nonlinear systems. The paper is based on previous work of the authors
Authors and Affiliations
Aurel FRATU, Mariana FRATU
Research on the Influence of Thermoinsulating Cores on the Functioning of Feeders (I)
The paper presents the results of a study on the influence of heat insulation of feeders on the solidification of parts cast in silica sand moulds. The study was conducted by computer simulation of casting. The study con...
Efficiency and Effectiveness in the Public Sector
In the public sector, efficiency is measured by the degree of serving the citizen, which becomes "the clients" of the institution. An organization is efficient if the employees are efficient. Efficiency means discipline...
Consumption of Electricity from Renewable Resources by Households and Industry in Sweden and Romania
Renewable electricity production, from sources such as wind power and solar power, is sometimes criticized for being variable or intermittent. However, the International Energy Agency has stated that deployment of renewa...
Employee Suggestion System (Kaizen Teian) the Bottom-up Approach for Productivity Improvement
In a globalization environment, the organizations’ competitive advantage is determined by the products’ cost/quality ratio which is in direct correlation with the employees’ knowledge, attitude and commitment, at all the...
Simulation of Double Acting Pneumatic Cylinder Control
Implementing optimal control in a pneumatic driven system is not a very cheap or easy process. The control subsystem of a pneumatic driven system has to distinctive direction: the control from pneumatic point of view and...