Titlebook: Stabilization of Nonlinear Systems Using Receding-horizon Control Schemes; A Parametrized Appro Mazen Alamir Book 2006 Springer-Verlag Lond

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Limit Cycle Stabilizing Receding-Horizon Controller for the Planar Biped ed called .. . is a five links walking robot developed by a French scientific research program (ROBEA-CNRS) (for a detailed information, see the project website.). This project [23] regrouped several laboratories and aimed to design, construct and control walking and running of a biped robot. Becaus

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Book 2006. Dr. Alamir presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. The balance between structural and optimization aspects of the method is dependent on the system being considered so the many examples aim to transmit a mod

BRIBE

General Stabilizing Formulations for Trivial Parametrizationsional control input . ∈ ℝ., the parametrization map is defined by: . where . ∈ ℝ. is the matrix of parameters. This is clearly the most commonly used piece-wise constant control parametrization. On the other hand, it is the parametrization of maximal dimension.

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Limit Cycle Stabilizing Receding-Horizon Controller for the Planar Biped e of the impacts with the ground, the corresponding dynamic involves state jumps (jumps on the velocity components). That is the reason why the receding-horizon scheme of Chapter 6 is a natural setting to tackle this limit cycle generation problems.

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Stabilization of a Rigid Satellite in Failure Mode the spacecraft attitude in presence of actuator failures. They only provide . stabilizing feedbacks [26, 25, 68]. Less local results have also been proposed using a kind of planification consisting of successive maneuvers [50] which are not satisfactory from a conceptual viewpoint.

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ation zu lösen ist, betrifft das . und die Frage, wie die Organisation zur Bewältigung der vielfältigen Umweltbezüge auszuformen ist. Obwohl die Bedeutung dieses Problems nie geleugnet wurde, so ist doch die ausdrückliche Berücksichtigung der Umweltbezüge in der Organisationstheorie eine noch jünger

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