The problem of fault accommodation is considered for a class of nonlinear systems whose purpose is tracking the prescribed trajectory. In the framework of solving above problem, two main tasks are investigated involving algebraic tools (algebra of functions). The first task is nonlinear model reduction followed by adaptive observer design for fault estimation. The second one is asymptotic model...

Needle insertion for percutaneous therapies is formulated as a trajectory planning and control problem. A new concept of needle steering is developed and a Needle Manipulation Jacobian is defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potentialfield-based path planning technique to demonstrat...

This paper presents a concept of designing fault tolerant control systems with the use of suboptimal methods. We assume that a given (nonlinear) dynamical process is described in a state space. The method consists in searching (at the off-line stage) for a trajectory of operational points of the system state space. The sought trajectory can be constrained by certain conditions, which can expres...

We pose the following questions: Given two points within a closed area W C R2, each with a prescribed direction of motion in it, (i) what is the shortest path of bounded curvature that joints them and lies completely in W? (ii) what is the minimum number of cusps one needs to design a path in W? This kind of questions appear in various applications, such as robot motion planning. The proposed a...

| This paper is concerned with the problem of controlling the motion of a mobile robot moving in a time-varying environment. The study considers a car-like vehicle moving in a roadway-like environment. We present two approaches which enable the vehicle to execute a given nominal motion plan and to adjust it in order to avoid static and dynamic obstacles. The rst approach is based on classical p...

The purpose of this study is to establish a control method to make borehole trajectory smoother. Considering that the complexity of rotary steerable drilling trajectory control and uncertainty of underground work, analysis of the deficiencies for the traditional trajectory control and the rotary steerable drilling trajectory deviation vector control theory, introduced the concept of "trend Angl...

We derive a near-time-optimal trajectory for wheeled mobile robots (WMRs) satisfying the following: 1) initial and final postures/velocities as well as 2) battery voltage and armature current constraints, under assumptions of simplified dynamics and constant translational/rotational velocity sections. We use a simplified dynamic model for WMRs neglecting inductances of motor armatures and divid...

This paper deals with navigation problem of wheeled oo-road robots while taking into account the mechanical behavior of the locomotion system and its interaction with the environment. We developed a simulation model of quasi-static motion for a class of wheeled and suspended vehicles. Command velocities are computed by tracking the vehicle control point along the prescribed path. To evaluate th...

* Department of Mechanical Engineering, Ubonratchathani University. ** Research and Development Center for Intelligent Systems, King Mongkut’s Institute of Technology North Bangkok. Abstract This paper presents the use of a multi-objective diversity control oriented genetic algorithm (MODCGA) for solving a closed-loop time-optimal path planning problem. The MODCGA is a result of the integration...