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This paper presents an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control theory. The case of a two-wheeled inverted pendulum is considered as a ...
In Control System Theory, the study of continuous-time, finite dimensional, underdetermined systems of ordinary differential equations is an important topic. Classification of systems in different categories is a natural initial step to the analysis of a g ...
In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...
This work introduces an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control (MPC) theory. The framework has been developed in the widely used Mat ...
This work presents an approach for both distributed synthesis and control for a network of discrete-time constrained linear systems without central coordinator. Every system in the network is dynamically coupled to a number of neighboring systems and it is ...
The flow around a tethered cylinder subjected to an incoming flow transverse to its main axis and confined in a channel is investigated by means of global stability analysis of the full coupled body-fluid problem. When the cylinder is strongly confined (ra ...
This work presents an approach for both dis- tributed synthesis and control for a network of discrete-time constrained linear systems without central coordinator. Every system in the network is dynamically coupled to a number of neighboring systems and it ...
Purpose – Intelligent control for unidentified systems with unstable equilibriums is not always a proper control strategy, which results in inferior performance in many cases. Because of the existing trial and error manner of the procedure in former durati ...
This paper proposes a feedback law capable of swinging up and stabilizing the cartpendulum system. The approach uses an iterative algorithm that is typically used to construct a locally linearizing output for nonlinear control-affine systems. However, rath ...
As the desire for high performance buildings increases, a number of solutions to enhance the dynamic response of structures have been explored and implemented. In recent years, base isolation has become a practical and effective strategy for earthquake res ...