Positioning Control Method Switching from Adaptive Nonstationary Servo Control to Nonstationary Impedance Control

Control of nonstationary LPV systems

This paper considers control of nonstationary linear parameter-varying systems, and is motivated by interest in the control of nonlinear systems along prespecified trajectories. In the paper, synthesis conditions are derived for such systems using an operator theoretical framework with the `2 induced norm as the performance measure. These conditions are given in terms of structured operator ine...

Adaptive Timestep Control for Nonstationary Solutions of the Euler Equations

In this paper we continue our work on adaptive timestep control for weakly instationary problems [29, 30]. The core of the method is a space-time splitting of adjoint error representations for target functionals due to Süli [32] and Hartmann [18]. The main new ingredients are (i) the extension from scalar, 1D, conservation laws to the 2D Euler equations of gas dynamics, (ii) the derivation of b...

A Switching Approach to Visual Servo Control

In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper, we introduce a new switching approach, in which a high-level decision maker determines which of two lowlevel visual servo controllers should be used at each control cycle. We introduce two new low-level controllers, one that relies on the homography between initial and goal image...

Adaptive Visual Servo Control

Dynamic Control for Nonstationary Queueing Networks

Nonstationary queueing networks are notoriously difficult to analyze and control. One reason is that steady state analysis and techniques are not useful since the model parameters in practice are not constant and depend on time. In this work, we analyze two optimal control problems for nonstationary Jackson networks with abandonment where our main goal is to optimally control the number of serv...