scholarly journals A Task-Level Biomechanical Framework for Motion Analysis and Control Synthesis

10.5772/22417 ◽  
2012 ◽  
Author(s):  
Vincent De ◽  
Richard Che
Keyword(s):  
Motion Analysis ◽  
Control Synthesis ◽  
And Control ◽  
Task Level

scholarly journals Improved H2 and H¥ conditions for robust analysis and control synthesis of linear systems

2005 ◽  
Vol 16 (4) ◽  
pp. 427-434 ◽  
Author(s):  
Alexandre Trofino ◽  
Daniel F. Coutinho ◽  
Karina A. Barbosa
Keyword(s):  
Linear Systems ◽  
Control Synthesis ◽  
H Infinity ◽  
Stability Performance ◽  
Augmented Space ◽  
Polytopic Uncertainties ◽  
Discrete Time Case ◽  
Performance Conditions ◽  
And Control ◽  
Parameter Dependent

This paper proposes improved H-2 and H-infinity conditions for continuous-time linear systems with polytopic uncertainties based on a recent result for the discrete-time case. Basically, the performance conditions are built on an augmented-space with additional multipliers resulting in a decoupling between the Lyapunov and system matrices. This nice property is used to develop new conditions for the robust stability, performance analysis, and control synthesis of linear systems using parameter dependent Lyapunov functions in a numerical tractable way.

The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis

2020 ◽  
Author(s):  
Sujay D. Kadam ◽  
Utsav Shah ◽  
Alrick D’Souza ◽  
Prajwal Gowdru Shanthamurthy ◽  
Nidhish Raj ◽  
...  
Keyword(s):  
Equilibrium Points ◽  
Point Of View ◽  
Control Synthesis ◽  
Test Bed ◽  
Lagrange’S Equation ◽  
Systems And Control ◽  
System Inversion ◽  
And Control ◽  
Two Degree Of Freedom ◽  
Present Simulation

Abstract This paper introduces the swirling pendulum, a two-link, two degree-of-freedom mechanism which is under-actuated and has an unusual non-planar coupling with axis of rotation of the two links being perpendicular to each other. The swirling pendulum mechanism, while being simple to mathematically represent and easy to physically construct, exhibits several properties like loss of inertial coupling, loss of relative degree, multiple stable and unstable equilibrium points. These properties are unique as well as interesting from dynamics and controls point of view which make the swirling pendulum an excellent test-bed for testing various ideas in control and demonstrating several notions associated with systems and control theory. In this paper, we discuss the modeling of the swirling pendulum mechanism based on Lagrange’s equation along with an analysis related to equilibrium points and their stability. We also present simulation results for regulatory as well as tracking control tasks through simulations on a non-linear model using control methods like LQR, lead compensator and system inversion-based control to demonstrate the utility of the proposed mechanism in the area of systems, control and dynamics. Furthermore, we also discuss experimental results for controls applied on a real-time hardware setup.

A System Approach to Describing, Analysing and Control of the Behaviour of Agents in MAS

2010 ◽  
pp. 253-273
Author(s):  
František Capkovic
Keyword(s):  
System Analysis ◽  
Single Agent ◽  
State Equation ◽  
Control Synthesis ◽  
System Control ◽  
Multi Agent Systems ◽  
Linear Discrete System ◽  
Multi Agent ◽  
System Properties ◽  
And Control

The Petri nets (PN)-based analytical approach to describing both the single agent behaviour as well as the cooperation of several agents in MAS (multi agent systems) is presented. PN yield the possibility to express the agent behaviour and cooperation by means of the vector state equation in the form of linear discrete system. Hence, the modular approach to the creation of the MAS model can be successfully used too. Three different interconnections of modules (agents, interfaces, environment) expressed by PN subnets are introduced. The approach makes possible to use methods of linear algebra. Moreover, it can be successfully used at the system analysis (e.g. the reachability of states), at testing the system properties, and even at the system control synthesis.

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