this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

An Impedance Source Inverter (ZSI) offers a solution to low output renewable energy sources, because it provides an unconventional high boost. The interaction of Quasi-Z-Source (qZS) inverter with the load side raises stability concerns. Multiple resonant features need attention when grid is connected. In this paper, feature third order filter based on qZS explored, and DC AC sides dynamic char...

The function of the accommodation system is to provide a clear retinal image of objects in the visual scene. The system was previously thought to be under simple continuous (i.e., single mode of operation) feedback control, but recent research has shown that it is under discontinuous (i.e., two stimulus-dependent modes of operation) feedback control by means of fast and slow processes. A model ...

According to the Dual-Mode theory, the two different dynamic components seen in the step response of disparity vergence eye movements are under separate control mechanisms. The initial, fast rising component is controlled by an open loop, preprogrammed system while the later, slow component is feedback controlled. The ability to separate the two components, or to isolate the initial component, ...

Doubly fed induction generator (DFIG) system suffers from complex control structure, slow dynamic response speed and cumbersome parameter design due to its traditional cascaded dual-loop strategy. A single-loop finite set model predictive (SLMPC) is proposed in the paper for DC-based DFIG DC grid, which simplifies structure design, enhances response. There are three improved aspects. First, eli...