[PDF] Top 20 Nonlinear H ∞ -control under unilateral constraints

... new control strategy, which is feasible under certain conditions and which avoids using impulsive control ...The control objective in the question is to asymptotically stabilize the ... Voir le document complet

... impulsive control inputs were admitted to counter- act/compensate disturbances/uncertainties at time instants of instantaneous changes of the underlying ...the control law, the physical implementation of ... Voir le document complet

... a control input, ∈ ℝ is an external disturbance, + is a perturbation due to the modeling of the restitution rule (34), { , o , , H are matrix functions of the appropriate ...and H is the vector of ... Voir le document complet

... This is in accordance with the convergence result given in § 5.3 of the minimal time for the discretized problem, to the minimal time of the continuous one, as N t and N x tend to +∞ (preserving the CFL condition). It is ... Voir le document complet

... that imposes on the undisturbed biped motion desired stability properties around q d while also locally attenuat- ing the effect of the disturbances. Thus, the controller to be constructed consists of the feedback ... Voir le document complet

... The H ∞ approach, that has recently been developed by Orlov and Aguilar (2014) towards nonsmooth me- chanical applications with hard-to-model friction forces (such as dry or Coulomb friction and backlash effects), ... Voir le document complet

... body motions on a humanoid robot accounting for various tasks and constraints is inverse kinematics. Based on the task-function approach, this class of methods enables the coordination of robot movements to ... Voir le document complet

... modeling, control, and simulation of mechanical systems subject to unilateral constraints have witnessed an intense research activity in the past two decades; see, for in- stance, [ 1 , 6 , 13 , 15 , ... Voir le document complet

... autonomous control systems, under state constraints but without imposing any control ...that, under the classical Kalman condition, in the absence of constraints on the state and ... Voir le document complet

... mode control strat- egy is proposed to manage the formation flight of ...mode control has been proved as a very efficient implementable solution for ground vehicle pla- tooning (see Ferrara et ...mode ... Voir le document complet

... 2. MODEL 2.1 Coordinate frames The main objective of this work is to provide an efficient control strategy for a formation of n UAS flying in an arbitrary pattern. It is assumed that load factors are tracked (by ... Voir le document complet

... communication constraints induced by the topology will not prevent the convergence of the system, at the condition that the system dynamics guarantees that no agent will ever be isolated forever, and that agents ... Voir le document complet

... In this paper we defined a formal framework for opinion diffusion with binary issues under constraints. We proposed a setting in which agents in a social influence network update their opinions towards the ... Voir le document complet

... yy \0Þ. Thus the elastic body is at rest under static stress, _ U x ¼ 0. The static stress state violates the Coulomb friction law. Therefore both conditions on the velocity and Coulomb’s friction law are ... Voir le document complet

... For the case in which the objective is to maximize the number of regular nodes that achieve throughput at least Tmin, both an exact MILP-based technique and the f[r] ... Voir le document complet

... shift under horizontal constraints We begin this section by presenting the core idea of our algorithmic construction to prove the direct implication by ... Voir le document complet

... financing constraints prevent potentially successful and growth enhancing projects or businesses to be ...financial constraints are critical determinants of trade in many ...respects. Constraints ... Voir le document complet

... would under full information, if the principal faced the same shadow price of ...behavior under asymmetric information exhibits hysteresis, although for reasons quite dierent from those described by Dixit ... Voir le document complet

... 3. FORMULATION WITH MEAN-SQUARE ERROR AND K-L DIVERGENCE In the previous section, we derived a general framework for solving problem (5)-(6). In particular, we proposed an ad- ditive (8) and a multiplicative (18) weight ... Voir le document complet

... Christopher Thraves LADyR, GSyC, Universidad Rey Juan Carlos, Madrid, Spain Abstract—In this paper, we consider the problem of assigning a set of clients with demands to a set of servers with capacities and degree ... Voir le document complet