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Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

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Data type

In computer science and computer programming, a data type (or simply type) is a collection or grouping of data values, usually specified by a set of possible values, a set of allowed operations on these values, and/or a representation of these values as machine types. A data type specification in a program constrains the possible values that an expression, such as a variable or a function call, might take. On literal data, it tells the compiler or interpreter how the programmer intends to use the data.

Model predictive control

Model predictive control (MPC) is an advanced method of process control that is used to control a process while satisfying a set of constraints. It has been in use in the process industries in chemical plants and oil refineries since the 1980s. In recent years it has also been used in power system balancing models and in power electronics. Model predictive controllers rely on dynamic models of the process, most often linear empirical models obtained by system identification.

Type system

In computer programming, a type system is a logical system comprising a set of rules that assigns a property called a type (for example, integer, floating point, string) to every "term" (a word, phrase, or other set of symbols). Usually the terms are various constructs of a computer program, such as variables, expressions, functions, or modules. A type system dictates the operations that can be performed on a term. For variables, the type system determines the allowed values of that term.

Type safety

In computer science, type safety and type soundness are the extent to which a programming language discourages or prevents type errors. Type safety is sometimes alternatively considered to be a property of facilities of a computer language; that is, some facilities are type-safe and their usage will not result in type errors, while other facilities in the same language may be type-unsafe and a program using them may encounter type errors.

Adaptive control

Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain.cite journal|author=Chengyu Cao, Lili Ma, Yunjun Xu|title="Adaptive Control Theory and Applications", Journal of Control Science and Engineering'|volume=2012|issue=1|year=2012|doi=10.1155/2012/827353|pages=1,2|doi-access=free For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption; a control law is needed that adapts itself to such changing conditions.

Feed forward (control)

A feed forward (sometimes written feedforward) is an element or pathway within a control system that passes a controlling signal from a source in its external environment to a load elsewhere in its external environment. This is often a command signal from an external operator. A control system which has only feed-forward behavior responds to its control signal in a pre-defined way without responding to the way the load reacts; it is in contrast with a system that also has feedback, which adjusts the input to take account of how it affects the load, and how the load itself may vary unpredictably; the load is considered to belong to the external environment of the system.

Type inference

Type inference refers to the automatic detection of the type of an expression in a formal language. These include programming languages and mathematical type systems, but also natural languages in some branches of computer science and linguistics. Types in a most general view can be associated to a designated use suggesting and restricting the activities possible for an object of that type. Many nouns in language specify such uses. For instance, the word leash indicates a different use than the word line.

Type constructor

In the area of mathematical logic and computer science known as type theory, a type constructor is a feature of a typed formal language that builds new types from old ones. Basic types are considered to be built using nullary type constructors. Some type constructors take another type as an argument, e.g., the constructors for product types, function types, power types and list types. New types can be defined by recursively composing type constructors.

Optimal control

Optimal control theory is a branch of mathematical optimization that deals with finding a control for a dynamical system over a period of time such that an objective function is optimized. It has numerous applications in science, engineering and operations research. For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the moon with minimum fuel expenditure.

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.