Titlebook: Lagrangian and Hamiltonian Methods For Nonlinear Control 2006; Proceedings from the F. Allgüwer,P. Fleming,Kenji Fujimoto Conference procee

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Power Shaping Control of Nonlinear Systems: A Benchmark Example,rk tunnel diode circuit. It is shown that, in contrast with other techniques recently reported in the literature, e.g. piecewise approximation of nonlinearities, power shaping yields a simple linear static state feedback that ensures (robust) global asymptotic stability of the desired equilibrium.

URN

An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems,er to prove the global asymptotical stability of the solution. Finally an application example is presented in order to deeply point out the effectiveness of the design procedure presented: a Fault Tolerant Control problem is solved for a magnetic levitation system affected by periodic voltage disturbances.

弄污

注入

,A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem,ll as from the standpoint of both neuro-physiology and robotics. Firstly, a rather simpler but mysterious control problem of movements of human-like multi-joint reaching with excess DOFs is analyzed from Newtonian mechanics and differential geometry. Secondly, another illustrative control problem th

牛马之尿

Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping,thms on a Riemannian manifold are discussed. We illustrate the methods by applications from robotics and multi antenna communication. Gradient descent algorithms for dextrous hand grasping and for sphere packing problems on Grassmann manifolds are presented respectively.

上下连贯

Synchronization of Networked Lagrangian Systems,iple robots, formation control of UAV’s, mobile sensor networks, Kuramoto oscillators, and teleoperation. We assume that the agents exchange position and velocity information over a network described by an interconnection graph. We consider only linear interconnections on balanced, directed graphs b

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背叛者

Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators, sense of the Fretchet derivative, there exists some Lagrangian for a stationary condition of variational problems. A system having such a Lagrangian can be formulated as a field port-Lagrangian system by using a Stokes-Dirac structure on a variational complex. However, it is unknown whether any inf

genesis

Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems,e plant model to use for the design. Unfortunately, even if the continuous-time model of a plant is known, we cannot in general compute the exact discrete-time model of the plant, since it requires computing an explicit analytic solution of a nonlinear differential equation. One way to solve the pro

粗野

Kinematic Compensation in Port-Hamiltonian Telemanipulation,he master) and a controlled remote robot (the slave) interconnected through a communication channel. The motion imposed to the master by the human is transmitted to the slave which moves accordingly; when the slave interacts with a remote environment, the interaction force is fed back to the master