Titlebook: Advanced Robot Control; Proceedings of the I Carlos Canudas de Wit Conference proceedings 1991 Springer-Verlag Berlin Heidelberg 1991 Adapt

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Mirela Toth-Tascau,Dan Ioan Stoiaset of nonlinear systems, the equations of which encompass all stable linear invariant systems, is first proposed. This analysis is then applied to the design and analysis of feedback controls for the wheeled-cart. The control inputs are either the cart‘s motorized wheels angular velocities (velocit

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https://doi.org/10.1007/978-0-387-09655-1sors. A single sensor is here considered as a mapping from .. to ℝ. This assumption allows us to set that the related jacobian is a particular set of screws, which authorizes some unification in the analysis. Then, we define the concept of virtual linkage as a way of expressing the constraints induc

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Niching for Ant Colony Optimisation,ng regulation theory, considering the nonlinearities of the general dynamic model. The control design is presented in detail, including output trajectory generation, associated reference state computation, and different feedforward/feedback realizations of the regulation concept. Extensive simulatio

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Andrew Lewis,Sanaz Mostaghim,Ian Scrivent arms or, more generally, to mechanical structures. This procedure will be presented in a general setting, for nonlinear time-varying systems. An application to a flexible two-link manipulator illustrates the claimed advantages.

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