IEEE Transactions on Automatic Control

Ieee Transactions on Automatic Control

| In this paper we take the class of Jacobi-type algorithms and present a systematic way to derive an architecture for execution of the time adaptive QR and QR ?1 algorithms, two members of the class. We know that Jacobi-type algorithms nd natural expression in Cordic arithmetic and that high-throughput implementations ask for parallel operating pipelined Cordic processor elements. Based on thi...

Ieee Transactions on Automatic Control

Ieee Transactions on Automatic Control

Keywords| Nonholonomic systems, nonlinear controllabil-ity theory, robotic manipulation. Abstract| Pairs of bodies with regular rigid surface rolling onto each other in space form a nonholonomic system of a rather general type, posing several interesting control problems that have been studied relatively little. It also turns out that the nonholonomy of such systems can be exploited in practica...

Ieee Transactions on Automatic Control

| Controlling a complex dynamic system, such as a plane or a crane, usually requires a skilled operator. Such a control skill is typically hard to reconstruct through introspection. Therefore an attractive approach to the reconstruction of control skill involves machine learning from operators' control traces, also known as behavioural cloning. In the most common approach to behavioural cloning...

Ieee Transactions on Automatic Control

| Time-optimal nonlinear control of rest to rest manoeuvres of Planar Double Arms Robot (PDAR) is solved using Pontryagin's Minimum Principle. The Forward-Backward Method (FBM) is applied to nd a numerical non-optimal solution that satisses the state equations with the initial and the nal boundary conditions. This solution is used to obtain an approximation of the initial values of the costates...