While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of relatively fast systems. Doctor 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 developed here aim to transmit a mode of thought rather than a ready-to-use recipe. Among the systems given detailed treatment are:
double...
While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of relatively...
Robot Motion Control 2007 presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2007. The authors of these papers have been carefully selected and represent leading institutions in this field.
Robot Motion Control 2007 presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at...
Control of nonlinear systems, one of the most active research areas in control theory, has always been a domain of natural convergence of research interests in applied mathematics and control engineering. The theory has developed from the early phase of its history, when the basic tool was essentially only the Lyapunov second method, to the present day, where the mathematics ranges from differential geometry, calculus of variations, ordinary and partial differential equations, functional analysis, abstract algebra and stochastic processes, while the applications to advanced engineering design...
Control of nonlinear systems, one of the most active research areas in control theory, has always been a domain of natural convergence of research int...
These papers were presented at the workshop on High Performance Computing and Gigabit Wide Area Networks held in September 1998 in Essen, Germany. The aim of the workshop was to analyse the interplay between computer network technology, communication software and the performance of mathematical algorithms used for large scale computations in wide area high speed computer networks. Only through interdisciplinary research with the co-operation of electrical engineers, mathematicians and computer scientists will it be possible to determine the most efficient combinations of parallel algorithms,...
These papers were presented at the workshop on High Performance Computing and Gigabit Wide Area Networks held in September 1998 in Essen, Germany. The...
Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and clear e?ect. Though it must be a widely - cepted controller for mechanical control systems, it is still short of theoretical bases, e.g., optimality, performance tuning rules, automatic performance t- ing method, and output feedback PID control have not been clearly presented...
Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, ...
This monograph demonstrates how the performance of various well-known adaptive controllers can be improved significantly using the dual effect. The modifications to incorporate dual control are realized separately and independently of the main adaptive controller without complicating the algorithms. A new bicriterial approach for dual control is developed and applied to various types of popular linear and nonlinear adaptive controllers. Practical applications of the designed controllers to several real-time problems are presented. This monograph is the first book providing a complete...
This monograph demonstrates how the performance of various well-known adaptive controllers can be improved significantly using the dual effect. The...
One of the major application targets of service robots is to use them as assistive devices for rehabilitation. This book introduces some latest achievements in the field of rehabilitation robotics and assistive technology for people with disabilities and aged people. The book contains results from both theoretical and experimental works and reviews on some new advanced rehabilitation devices which has been recently transferred to the industry. Significant parts of the book are devoted to the assessment of new rehabilitation technologies, the evaluation of prototype devices with end-users,...
One of the major application targets of service robots is to use them as assistive devices for rehabilitation. This book introduces some latest ach...
The last thirty years have witnessed an enormous effort in the field of robust control of dynamical systems. The main objective of this book is that of presenting, in a unified framework, the main results appeared in the literature on this topic, with particular reference to the robust stability problem for linear systems subject to time-varying uncertainties. The book mainly focuses on those problems for which a definitive solution has been found; indeed most of the results we shall present are given in the form of necessary and sufficient conditions involving the feasibility of...
The last thirty years have witnessed an enormous effort in the field of robust control of dynamical systems. The main objective of this book is tha...
With a continuously increasing desire for natural and comfortable human/machine interaction, the acoustic interface of any terminal for multimedia or telecommunication services is challenged to allow seamless and hands-free audio communication. Sound Capture for Human-Machine Interfaces introduces the practical aspects of microphone array signal processing and presents various combinations of beamforming and acoustic echo cancellation.
With a continuously increasing desire for natural and comfortable human/machine interaction, the acoustic interface of any terminal for multimedia ...
Most real physical systems are nonlinear in nature. Control and ?ltering of nonlinear systems are still open problems due to their complexity natures. These problem becomes more complex when the system s parameters are - certain. A common approach to designing a controller/?lter for an uncertain nonlinear system is to linearize the system about an operating point, and uses linear control theory to design a controller/?lter. This approach is successful when the operating point of the system is restricted to a certain region. H- ever, when a wide range operation of the system is required, this...
Most real physical systems are nonlinear in nature. Control and ?ltering of nonlinear systems are still open problems due to their complexity natures....
