A complete dynamic model of flight dynamics is presented. Based on this model, the inverse problem and that of the synthesis of programmed motion are solved. A new approach to decoupled control of large-scale nonlinear systems is applied to dynamic flight control. Control synthesis is performed in two steps. First the nominal programmed control is synthesized using the complete model of flight dynamics. This nominal control should realize nominal trajectory under ideal conditions with no perturbations. At the second step the tracking of nominal trajectory is realized. The system is viewed as...

Experimental robotics is at the core of validating robotics research for both its system science and theoretical foundations. Robotics experiments serve as a unifying theme for robotics system science and theoretical foundations. This book collects papers on the state of the art in experimental robotics. The papers were presented at the 2000 International Symposium on Experimental Robotics.

A large part of today's fervour on robust control research is focused on those techniques which utilise the Variable Structure Control Method and Lyapunov's Second Method, and which constitute the backbone of the so-called "deterministic" control of uncertain systems. The chapters of this book cover a large spectrum of the recent research and introduce the most innovative ideas in the field. Contained within the volume the reader will find: a survey of control Lyapunov functions; new structures of sliding mode controllers with discussion on higher order sliding modes; new techniques for the...

This volume contains the proceedings of ICAOS '96 the 12th International Conference on Analysis and Optimization of Systems. This conference was co-organized by INRIA and the CEREMADE and was dedicated to Images, Wavelets and PDE's. The aim of the conference was to discuss the impact on image analysis of recent mathematical developments in multiscale analysis, partial differential equations, variational methods and so on. ICAOS '96 provided a forum for image processing researchers and mathematicians to interact and to exchange their technical knowledge and experience, theoretical or...

How can a robot decide what motions to perform in order to achieve tasks in the physical world? Robot motion planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. This volume presents an interdisciplinary account of recent developments in the field. Topics covered include: combining geometric algorithms and control techniques to account for the nonholonomic constraints of most mobile robots; the mathematical machinery necessary for understanding nonholonomic systems; applying optimal techniques to compute optimal paths;...

This book is written for the wide circle of readers who take an interest in concepts of basic sciences, specifically cybernetics, automation and control. It aims to provide a new technique for the solution of a range of automatic control problems using n ew types of feedback loops. Simple examples are used to illustrate the basic problems, the important aspects of the theory of automatic control and the difficulties that have to be faced when considering the automation of actual objects. Control of Indefinite Nonlinear Dynamic Systems is the first book to set out an effective regular...

This book combines real problems of practical interest with an application of profound theory. The mathematical model is derived step by step on the basis of physical principles, and the physics behind the control problems serves as a basis for the controller design. The book demonstrates how the physics behind the mathematical models can help to successfully apply a certain control strategy. The book aims to show the practical relevance of the presented methods, methods which are often criticised as only of theoretical interest, through an examination of their industrial applications....