Regularity with interior point control. Part I: Wave and Euler-Bernoulli equations

2005 ◽  
pp. 321-355 ◽  
Author(s):  
R. Triggiani
Keyword(s):  
Interior Point ◽  
Point Control ◽  
Control Part

Fundamental problems of robot control: Part I, Innovations in the realm of robot servo-loops

Robotica ◽  
1995 ◽  
Vol 13 (1) ◽  
pp. 19-27 ◽  
Author(s):  
Suguru Arimoto
Keyword(s):  
Robot Control ◽  
Impedance Control ◽  
Vital Role ◽  
Robot Dynamics ◽  
Intelligent Machines ◽  
The Past ◽  
Intelligent Robots ◽  
Point Control ◽  
Feedback Connections ◽  
Control Part

SummaryAfter the enthusiasm for creating “intelligent robots” in the early 1980's, progress of robotics research in the past decade has not fulfilled our expectations but revealed various difficulties in understanding motor control by man and implementing intelligent functions in robotic machines. To regain the initiative in the development of intelligent machines, this paper first presents a critical review of the state of the art of robot control and points out the necessity for improving robot servo-loops in order to facilitate skilled and dexterious motions in robotic manipulators and mechanical hands. It is then shown that the introduction of a quasi-natural potential in Lagrange's formulation of robot dynamics gives rise to the design of hyperstable PID servo-loops, which establish global asymptotic stability of set-point control. The hyperstability theoretical framework is then applied to the design of control commands in various control problems, such as hybrid (position/force) control, impedance control, model-based adaptive control, and learning control. In all cases, the passivity concept of residual robot dynamics plays a vital role in conjunction with the concept of feedback connections of two hyperstable nonlinear or linear blocks.

scholarly journals Interior point control and observation for the wave equation

1996 ◽  
Vol 1 (2) ◽  
pp. 219-236 ◽  
Author(s):  
A. Y. Khapalov
Keyword(s):  
Wave Equation ◽  
Interior Point ◽  
Space Dimension ◽  
Exact Controllability ◽  
Function Spaces ◽  
Time Interval ◽  
Concentrated Force ◽  
Advantages And Disadvantages ◽  
Point Control ◽  
The Moment

This paper is concerned with the approximate and exact controllability properties of the wave equation with interior point controls entering via the concentrated force, the velocity of the displacement and the moment. The emphasis is given to the moving point controls and their dual observations whose advantages and disadvantages, versus the static ones, are analyzed with respect to the space dimension, the duration of the control time interval and the function spaces involved.

Interior point control of a heat equation using zero dynamics design

2006 ◽  
Author(s):  
C.I. Byrnes ◽  
D.S. Gilliam ◽  
A. Isidori ◽  
V.I. Shubov
Keyword(s):  
Heat Equation ◽  
Interior Point ◽  
Zero Dynamics ◽  
Point Control
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