A new method for mitigating unexpected impact of a redundant manipulator with an object in its environment is presented. Kinematic constraints are utilized with the recently developed method known as Full Space Parameterization (FSP). System performance criteria and constraints are changed at impact to return the end effector to the point of impact and halt the arm. Since large joint accelerati...

In aerospace positioning actuators, gear efficiencies of 85% as well as breakout forces as high as 50% of the stall load of the actuator are observed at very low temperature conditions. Due to the low efficiency and high loading, stiction in these actuators is common which can lead to limit cycles or problems with controlling the actuators. To be able to correctly predict and assess these effec...

Practical control systems necessarily have pointwise-in-time constraints such as a physical limit on state variables and/or such as an actuator bound on control variables. For such systems, switching control strategy techniques are proposed, but few results about experimental evaluations are done. This paper, therefore, considers a switching control strategy using a maximal output admissible se...

A model predictive control architecture based on discrete time nonlinear car model is derived to solve regulation(“parking”) problem. Parameters of the proposed controller are chosen by considering terminal state constraints. This setup combined with terminal state penalty in the cost function could assure control stability. The generated trajectory satisfies minimum curvature requirements and ...

This paper is concerned with some feasibility issues in mathematical programs with equilibrium constraints (MPECs) where additional joint constraints are present that must be satis ed by the state and design variables of the problems. We introduce su cient conditions that guarantee the feasibility of these MPECs. It turns out that these conditions also guarantee the feasibility of the quadratic...

During the actual wind power generation process, turbines are often affected by side effects such as blade vibrations, input constraints, and actuator faults. This can lead to a reduction in efficiency even result unforeseen losses. study discusses robust adaptive fault-tolerant boundary control approach address issues of input-constrained actuator-fault problems turbine vibration control. By e...

We address the motion planning problem for multiple cooperating manipulators on nonholonomic carts. The mobile manipulators possess the ability to manipulate and transport objects while holding them in a stable grasp. We present a general approach that allows the generation of optimal trajectories and actuator inputs for any given maneuver in the presence of obstacles. We assume a meaningful in...