Constraint-based scheduling has become the dominant form of modeling and solving scheduling problems. Recently, due to ever more powerful embedded processors, it has become possible to embed and run constraint-based schedulers on-line even for fast processes such as product assembly sequencing. This makes constraint-based scheduling interesting to the control community as a new tool for system ...

In this paper, an efficient method for solving optimal control problems of the linear differential systems with inequality constraint is proposed. By using new adjustment of hat basis functions and their operational matrices of integration, optimal control problem is reduced to an optimization problem. Also, the error analysis of the proposed method is nvestigated and it is proved that the orde...

Background:Despite some successful dynamic simulation of self-impact double pendulum (SIDP)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion.Objective :The main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by modelin...

Abstract Articulating crane (AC), a widely used crane, plays an essential role in various industrial activities. Owing to its strong nonlinearity and uncertainty, tracking control remains challenging, particularly for precise dynamic control. This paper proposes adaptive diffeomorphism-constraint-based (ADCBC) nonlinear AC robustly achieve trajectory while guaranteeing desired performance (DDCP...