1,721,294 research outputs found
Decentralized Variable Structure Tracking for Systems with Time-Domain Dominance
No full textIn this paper, we consider the design of tracking controllers for linear MIMO systems described by an input-output model. The presence of known 'weak' interactions among SISO or MIMO subsystems may allow the designer to achieve objectives by using independent controllers of lower complexity than are necessary in general (control decentralization problem). Sufficient conditions for asymptotic tracking employing decentralized variable structure techniques are derived. The condition is shown to be closely related to (and in a sense, a time-domain counterpart of) dominance criteria used in frequency-domain techniques, as they have developed out of Rosenbrock's original diagonal dominance concept. The synthesis of a decentralized variable-structure controller for asymptotic tracking is illustrated for systems obeying some conditions on their nominal relative degrees
Necessary and Sufficient Dominance Conditions for Robust Decentralization of VS Tracking Control
No full textDynamic Force/Torque Sensors: Theory and Experiment
No full textAlthough present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results
On the Robust Synthesis of Logical Consensus Algorithms for Distributed Intrusion Detection
No full textWe introduce a novel consensus mechanism by which the agents of a network can reach an agreement on the value of a shared logical vector function depending on binary input events. Based on results on the convergence of finite--state iteration systems, we provide a technique to design logical consensus systems that minimize the number of messages to be exchanged and the number of steps before consensus is reached, and that can tolerate a bounded number of failed or malicious agents. We provide sufficient joint conditions on the input visibility and the communication topology for the method's applicability. We describe the application of our method to two distributed network intrusion detection problems
Necessary and Sufficient Conditions for Robust Perfect Tracking under Variable Structure Control
No full textThe tracking control of linear MIMO systems with structured uncertainty is considered. A necessary and sufficient condition for robust asymptotic tracking employing variable structure techniques in the presence of multiplicative uncertainty is derived. The constructive proof of the theorem provides an explicit formula for controller synthesis
Manipulability of cooperating robots with passive joints
No full textIn this paper we study the differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints. The kinetic manipulability indices are derived as a simple extension of previous results on cooperating robots without passive joints. The force manipulability analysis for cooperative robot systems can not be derived by “duality” arguments as it can with conventional arms, rather a distinction between active and passive force manipulability is necessary. Results in the paper apply directly to the analysis of simply closed kinematic chains, and can be extended to multiply closed kinematic chains
The Sense of Touch and its Rendering: Progress in Haptics Research
No full textBicchi A, Buss M, Ernst MO, Peer A. The Sense of Touch and its Rendering: Progress in Haptics Research. Springer Tracts in Advanced Robotics ; 45. Berlin, Germany: Springer; 2008
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