In the last decades the increment of processing power of digital controllers has lead to noteworthy improvements in planning and robot control. Interesting results have been achieved in the impedance control of stiff actuators, where, thanks to very accurate force measurements and fast control loops, it has been possible to perform challenging interaction tasks. More recently, roboticists have ...

In this paper, the application of a robust multivariable control system designed for a horizontal variable speed wind turbine is discussed. The control problem presented and the background of the design method is given. A H∞ controller based of a linear model that reduces the mechanical fatigue of the turbine is designed. The alleviation of the mechanical loads could increase the lifespan and t...

In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the controlled dynamics are given by a nonholonomic mechanical system. In our paper, the controlled equations are derived using a basis of vector fields adapted to t...

An extremely important issue in quality management is monitoring and diagnosing processes, and, subsequently, supervising them using so-called control charts. In typical production charts with constant parameters are commonly used, such as x-R, x-s, CUSUM, EWMA others, which, most cases, effective tools for process stability evaluation. Charts considered untypical (in statistical control) those...

in this paper, thermo-elastic analysis of a rotating thick truncated conical shell subjected to the temperature gradient, internal pressure and external pressure is presented. given the existence of shear stress in the conical shell due to thickness change along the axial direction, the governing equations are obtained based on first-order shear deformation theory (fsdt). these equations are so...