Abstract: Even though the control systems have been improved but model uncertainties modeling error still have great effect on the system performance. In this paper, I will design a simple sliding mode controller support by state feedback linearization to reduce tracking error in the task Space of four link Puma robotic manipulator.
Cody Priess. Abstract: The focus of this work was the design and analysis of an actuated seat for use in cerebral palsy research. A conceptual design was produced for the seat which would allow rotations to occur on the pitch and roll axes. The dynamics of the seat were analyzed using the Lagrange mechanics and the non-linear equations of motion were derived. Using these equations along with analysis tools for multi-link robot systems, different position-control schemes such as PD or Passivity-based control were explored and the stability of the system was analyzed.
Finally, a passivitybased control scheme was selected and implemented, and the response of the physical seat using this control was compared to the simulated response. It was found that passivity control produced excellent tracking of a sinusoidal trajectory in simulation, and matched very closely with the experimental response.
Paper 4: Rumor Control by Julian von Eye Abstract: Using a system of equations similar to the evolution of an epidemic like model, the ability to control rumor propagation in small-world networks will be analyzed. Under what conditions this system is bounded will be investigated.
These results will be interpreted and discussed to see if and how it can be applied to the real world.
Abstract: In this paper we investigated the effect of a sequentially applied constraint at one boundary on the stability of string initially vibrating in the fundamental mode. The constraint is represented by moving scabbard which moves axially along the mean position of the string. The application of the constraint causes work done on the system and this work done could be negative or positive depending on time of the application of the constraint and on the traveled distance of the constraint.
The work done decreases or increase the total energy of the system.
Hence, the application of the constraint can be implemented as positive or negative damping element. The stability is investigated by choosing the energy expression of the system after application of constraint as Lyapunov candidate function. Thus, the system can be asymptotically stabilized and brought to the equilibrium position over a period of time by using an actuator at on boundary to move the constraint and takes the energy out. Abstract—It is known that the stability and performance properties of impedance and admittance controllers are complementary in their application.
A hybrid system, originally proposed by Ott, Mukherjee and Nakamura  was developed to allow continuous switching between both controllers to maximize their performance; interpolating between the two yielded a controller that outperformed impedance and admittance controllers operating in a stand alone, independent installation. The motivation behind this paper is to investigate the nonlinear behavior of external forces generated from the environment into the system on the impedance controller.
With a successful analysis of the impedance controller, future topics will include a similar analysis on the admittance controller and finally the coupling of them. Abstract: The paper proposes a coordinated formation control method for heterogeneous multi-robot system. The model of heterogeneous multi-robot system is built first. A coordinate reference transformation is used to transform the problem into a tracking problem and a consensus problem.
Afterwards tracking and consensus control laws are designed and the stability of the system is analyzed. Simulation results illustrate the effectivenessand correctness of system.
These lecture notes are intended as a reference for a 3rd year, 20 hours ”Control Engi- representation plays a fundamental role in systems and control theory. These lecture notes give a completely self-contained introduction to the control theory of linear time-invariant systems. No prior knowledge is requried apart from .
Abstract—As the advancement of microelctromechanical system MEMS technology, lots of low cost motion sensors, including accelerometers, gyroscopes, and magnetometers, are widely available nowadays. Accompany with the low cost nature, each sensor also suffers from low-resolution and high noise. To overcome such disadvantage, this project aims to combine those motion sensors to build a sensor system which can robustly estimate the orientation of a rigid body.
Based on a combination of a tri-axis accelerometer, tri-axis gyroscope, and a tri-axis magnetometer, the nonlinear extended Kalman filter is used to perform the desired orientation estimation. The filter will be established based on both Euler angle and quaternion parameterizations of orientation.
Preliminary experimentalsetup is also described. Abstract— Nonlinear behavior is present in all power electronics converters. The sources of Nonlinearity in power electronics are primarily due to the switching components, such as transistors and diodes, and most importantly the control input is a nonlinear pulse-width function.
When designing a power converter it is a common practice to linearize the transfer function to come with an average linear system, which is easy to deal with. Since power electronics converters are rich in nonlinearity, it would be wise to analyze and design them using nonlinear system theory. This paper shows how to design a DC to DC converter using nonlinear systems, with this strategy important characteristics are modeled, such as voltage and current ripples. When linearization is preformed these important behaviors are lost. Phase-plane portraits, bifurcation, Lyapunov stability equations, passivity, etc.
Abstract— This paper investigates the control of an ocean vehicle, which involves making the vessel follow a desired trajectory. There are many types of ocean vehicles, but for simplicity, this paper considers slow-moving surface ships in calm waters. Lyapunov stability theory is used to design an observer-based controller. The observer-based controller estimates the unknown state of the system. Gusein-Zade, A. Davydov, V. Zarodov, V. Sedykh, D. Treshchev, V. Surveys , 67 :2 , — Surveys , 65 :5 , — Agrachev, M. Agrachev, U. Boscain, G. Charlot, R. Ghezzi, M. Osipov, V. Kozlov, L.
Faddeev, D. Anosov, V.
Vladimirov, R. Gamkrelidze, A. Gonchar, N. Krasovskii, A. Kryazhimskii, A.
Kurzhanskii, S. Novikov, S.
Aseev, A. Zhizhchenko, D. Treschev, A. Agrachev, E. Volkov, N. Grigorenko, A. Davydov, M.
In the frequency domain, G s and H s were expressed as ratios of polynomials in the complex frequency variable, s. Controllability is the ability to move a system from any given state to any desired state. Thus, the output of an open-loop control system is corrupted by disturbances. What is a control system? Sztencel, J.
Zelikin, A. Kolesov, A.