The dynamic model of a UAV with an attached robotic arm is derived in a symbolic matrix form through the Euler-Lagrangian formalism. A Cartesian impedance control, which provides a dynamic relationship between external generalized forces acting on the structure and the system motion, is then designed. The hovering control of a quadrotor, equipped with a 3-DOF robotic arm and subject to contact ...

Autonomous control means the decentralized coordination of intelligent logistic objects and the routing through a logistic system by the intelligent parts themselves. This paper shows the application of a pheromone-based autonomous control method to a matrix model of a shop floor and compares the performance to an earlier developed method in different dynamic demand situations. The discrete eve...

The guaranteed cost control is studied for singular network control systems based on dynamic output feedback with uncertain time-delay.The controllers for the guaranteed cost control and the optimal guaranteed cost control can be given by the sensor time-driven, actuator and controller event-driven in terms of Lyapunov’s theory and linear matrix inequalities(LMI).

Abstract A system of fast moving quadcopters has a high risk collisions with neighboring or obstacles. The objective this work is to develop control strategy for collision and obstacle avoidance multiple quadcopters. In paper, the problem distributed dynamic matrix (DMC) among team attempting reach consensus in horizontal plane yaw direction ( , ) investigated. Violations predetermined safety r...

This paper investigates the construction of guaranteeing cost dynamic output feedback controller for linear discrete-time delay systems with time-varying parameter uncertainties and with exogenous disturbances. A necessary and sufficient condition for a controller to have the guaranteeing cost property is given by a nonlinear matrix inequality. As a sufficient condition, a linear matrix inequal...

Akarae t -The notion of interactor matrix or equivalently the Hermite normal form, is a generalization of relative degree to multivariable systems, and is crucial in problems such as decoupling, inverse dynamics, and adaptive control. In order for a system to be input-output decoupled using static state feedback, the existence of a diagonal interactor matrix must first be established. For a mul...