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This work outlines two approaches for small unmanned aerial vehicles (UAVs) performing surveillance with fixed cameras. Small UAVs present significant control challenges, due to relatively low-bandwidth actuation and significant disturbances due to wind. T ...
In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and ...
This paper considers a helicopter-like setup called the Toycopter. Its particularities reside first in the fact that the toycopter motion is constrained to remain on a sphere and second in the use of a variable rotational speed of the propellers to vary th ...
We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multi-referential control and dynamical system control. The resulting controller is based on two co ...
Fixed-order controller design for LTI-SISO polytopic systems is investigated using rank deficiency constraint on the controller Sylvester resultant matrix. It is shown that the non-convexity of fixed-order controller design problem can be gathered in a ran ...
Prediction error identification requires that data be informative with respect to the chosen model structure. Whereas sufficient conditions for informative experiments have been available for a long time, there were surprisingly no results of necessary and ...
In this article we describe the use of a standard game console joystick, namely the Nintendo Wiimote, for controlling a HOAP-2 humanoid robot. We give a short overview on the use of tangible user interfaces, followed by the description of the used game con ...
This paper presents an analysis and design method for the current control of a series connected multilevel converter with interleaved switching. Based on a conventional design method for the parameters of a PI controller, the variable response of a current ...
A powerful approach for dynamic optimization in the presence of uncertainty is to incorporate measurements into the optimization framework so as to track the necessary conditions of optimality (NCO), the so-called NCO- tracking approach. For nonsingular co ...
Rotor flux oriented control of multiphase induction machines with sinusoidal MMF distribution can theoretically be realized by using only two current controllers in the synchronous reference frame. In practice however this is inadequate, as shown in the pa ...
