Discrete-time, linear control systems with specified pointwise-in-time constraints, such as those imposed by actuator saturation, are considered. The constraints are enforced by the addition of a nonlinear ‘reference governor’ that attenuates, when necessary, the input commands. Because the constraints are satisfied, the control system remains linear and undesirable response effects such as ins...

Nonlinear characteristics are very common in marine steam turbine, such as control input constraints and external disturbances. Based on the active disturbance rejection control (ADRC), an anti-windup scheme is proposed to eliminate the undesired effects of nonlinear characteristics in the control system. In this scheme, firstly, a method of setting parameter is designed for nonlinear active di...

In this study, a backstepping-based fault-tolerant controller for robotic manipulator system with input and output constraints was developed. First, barrier Lyapunov function adopted to ensure that the satisfied time-varying constraints. Subsequently, actuator saturation asymmetric dead-zone characteristics were also considered, described using continuous function. The impacts of failures unkno...

We propose a position-based approach for largescale simulations of rigid bodies at interactive frame-rates. Our method solves positional constraints between rigid bodies and therefore integrates nicely with other position-based methods. Interaction of particles and rigid bodies through common constraints enables two-way coupling with deformables. The method exhibits exceptional performance and ...

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This paper presents a method for computing the motions of a robot in dynamic environments, subject to the robot dynamics and its actuator constraints. This method is based on the concept of Velocity Obstacle, which deenes the set of feasible robot velocities that would result in a collision between the robot and an obstacle moving at a given velocity. The avoidance maneuver at a spe-ciic time i...

The design problem of a flight-control system on a large fly-by-wire airliner is to find combinations of actuator(s), power circuit(s), computer(s) for each movable, so as to fulfill the constraints imposed by the safety regulations, while keeping the resulting system weight as low as possible. The trend towards more electrical aircraft makes it harder and harder to determine, in a reasonable c...

A parallel manipulator is naturally associated with a set of constraint functions defined by its closure constraints. The differential forms arising from these constraint functions completely characterize the geometric properties of the manipulator. In this paper, using the language of differential forms, we provide a thorough geometric study on the various types of singularities of a parallel ...

This chapter proposes a reliable fault-tolerant model predictive control applied to drinking water transport networks. After a fault has occurred, the predictive controller should be redesigned to cope with the fault effect. Before starting to apply the fault-tolerant control strategy, it should be evaluated whether the predictive controller will be able to continue operating after the fault ap...