The input-output decoupling controller for nonholonomic mobile manipulators

2004 ◽  
Author(s):  
A. Mazur ◽  
B. Lukasik
Keyword(s):  
Mobile Manipulators ◽  
Input Output

Trajectory tracking control in workspace-defined tasks for nonholonomic mobile manipulators

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 57-68 ◽  
Author(s):  
Alicja Mazur
Keyword(s):  
Tracking Control ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Regularity Conditions ◽  
Mobile Manipulators ◽  
Input Output ◽  
Trajectory Tracking Control ◽  
Tracking Controllers ◽  
Theoretical Considerations ◽  
Selection Of

SUMMARYThis paper considers a problem of tracking control design for different types of nonholonomic mobile manipulators. The mobile platform is in form of a unicycle. In the first step, an input–output decoupling controller is developed. The proposed selection of output functions is in more general form than the output functions previously introduced by others [Yamamoto and Yun]. It makes possible to move simultaneously, the mobile platform and the manipulator built on it. Regularity conditions that guarantee the existence of the input–output decoupling control law are presented. In the second step, trajectory and path tracking controllers are formulated and presented. Theoretical considerations are illustrated with simulations for the mobile manipulator consisting of a vertical, three degree of freeedom (DOF) pendulum (with holonomic or nonholonomic drives) mounted atop of a unicycle.

Input-Output in Personnel Management

1970 ◽  
Vol 15 (2) ◽  
pp. 115, 118
Author(s):  
WILLIAM E. COLEMAN
Keyword(s):  
Personnel Management ◽  
Input Output

Adaptive Control Scheme for Coupled Tank Process

2018 ◽  
pp. 89-95
Author(s):  
Vinodhini M.
Keyword(s):  
Adaptive Control ◽  
Nonlinear Behaviour ◽  
Simulation Studies ◽  
Input Output ◽  
Control Scheme ◽  
Direct Model ◽  
Multivariable Process ◽  
Model Reference Adaptive ◽  
Siso System ◽  
Adaptive Control Scheme

The objective of this paper is to develop a Direct Model Reference Adaptive Control (DMRAC) algorithm for a MIMO process by extending the MIT rule adopted for a SISO system. The controller thus developed is implemented on Laboratory interacting coupled tank process through simulation. This can be regarded as the relevant process control in petrol and chemical industries. These industries involve controlling the liquid level and the flow rate in the presence of nonlinearity and disturbance which justifies the use of adaptive techniques such as DMRAC control scheme. For this purpose, mathematical models are obtained for each of the input-output combinations using white box approach and the respective controllers are developed. A detailed analysis on the performance of the chosen process with these controllers is carried out. Simulation studies reveal the effectiveness of proposed controller for multivariable process that exhibits nonlinear behaviour.

The Impact of the Public Expenditure Cuts Policy on the Labor Market in Vietnam

2012 ◽  
pp. 22-46
Author(s):  
Huong Nguyen Thi Lan ◽  
Toan Pham Ngoc
Keyword(s):  
Labor Market ◽  
Computable General Equilibrium ◽  
Impact Evaluation ◽  
Public Expenditure ◽  
Computable General Equilibrium Model ◽  
Living Standard ◽  
Input Output ◽  
Policy Makers ◽  
The Public ◽  
The Impact

The purpose of this study is to evaluate the impact of public expenditure cuts on employment and income to support policies for the development of the labor mar- ket. Impact evaluation is of interest for policy makers as well as researchers. This paper presents a method – that is based on a Computable General Equilibrium model – to analyse the impact of the public expenditure cuts policy on employment and income in industries and occupations in Vietnam using macro data, the Input output table, 2006, 2008 and the 2010 Vietnam Household Living Standard Survey.

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