In this paper, we consider the problem of self-calibration from image sequence taken by a camera with constant intrinsic parameters. Stratified approach starts from projective calibration, refines it into affine calibration and finally upgrades it to metric calibration. Both linear and nonlinear algorithms were proposed for projective and metric steps. The affine step was reported to be the mos...

A novel, brain-like, hierarchical (affine-neuro-fuzzy-topological) control for biomechanically realistic humanoid-robot biodynamics (HB), formulated previously in [15, 16], is proposed in the form of a tensor-invariant, “meta-cybernetic” functor machine. It represents a physiologically inspired, three-level, nonlinear feedback controller of muscularlike joint actuators. On the spinal level, nom...

Lur’e-type nonlinear systems are virtually ubiquitous in applied control theory, which explains the great interest they have attracted throughout the years. The purpose of this paper is to propose conditions to assess incremental asymptotic stability of Lur’e systems that are less conservative than those obtained with the incremental circle criterion. The method is based on the approximation of...

The dynamics of biological processes are often modeled as systems of nonlinear ordinary differential equations (ODE). An important feature of nonlinear ODEs is that seemingly minor changes in initial conditions or parameters can lead to radically different behaviors. This is problematic because in general it is never possible to know/measure the precise state of any biological system due to mea...

In this paper, we will present some recent progress in both global controllability and global asymptotical controllability of affine nonlinear systems. Our method is based on some basic facts in planar topology and in the geometric theory of ordinary differential equations. We will first present a necessary and sufficient condition for global controllability of general planar affine nonlinear s...

In [22] a form of extremum seeking for control (ESC) was developed for the stabilization of uncertain nonlinear systems. In ESC the extremum seeker controls the systems through feedback rather than fine tuning a controller. The ESC results, and other related results, apply only to systems affine in control. However, in most physical systems the control effort enters the system’s dynamics throug...

In this paper, we consider the problem of active model discrimination amongst a finite number of affine models with uncontrolled and noise inputs, each representing a different system operating mode that corresponds to a fault type or an attack strategy, or to an unobserved intent of another robot, etc. The active model discrimination problem aims to find optimal separating inputs that guarante...

Trajectory generation for nonlinear control systems is an important and difficult problem. In this paper, we provide a constructive method for hierarchical trajectory refinement. The approach is based on the recent notion of φ-related control systems. Given a control affine system satisfying certain assumptions, we construct a φ-related control system of smaller dimension. Trajectories designed...

This paper discusses the application of control loop performance assessment (Desborough and Harris, 1992) in a refinery setting. In a large process it is not feasible to tailor the parameters of the algorithm to every individual control loop. A procedure is illustrated for selecting default values which make it possible to implement the technology on a refinery-wide scale. For instance, it is s...