In this paper, we consider the asymptotic stabilization of a class of one dimensional boundary controlled port Hamiltonian systems by an immersion/reduction approach and the use of Casimir invariants. We first extend existing results on asymptotic stability of linear infinite dimensional systems controlled at their boundary to the case of stable Port Hamiltonian controllers including some physi...

We develop a method for generating smooth trajectories for a set of mobile robots. Given two end configurations, by tuning one parameter, the user can choose an interpolating trajectory from a continuum of curves varying from that corresponding to maintaining a rigid formation to motion of the robots toward each other. The idea behind our method is to change the original constant kinetic energy...

Background: In present communication systems, the transmission signals are considered to be time-invariant and are processed by the time-invariant bandpass filter at the receiver. In this regard, all the signals in the pass band will pass through the filter, including the interferences. Materials and Methods: This study analyzes the time-frequency characteristic of the 4-QAM modulated pulse sha...

This paper proposes a design method of a damping path for a cylindrical liquid container transferred with a wheeled mobile robot. The damping path is constructed from the acceleration using the principle of an input shaping method. Although a positional error is occurred by using the input shaping method, it is easy to correct the error with the proposed method. The proposed design method can b...

Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical through total energy shaping. In this method, some partial differential equations (PDEs) related kinetic potential shaping shall be solved analytically. Finding a suitable desired inertia matrix the solution of nonlinear PDEs relevant is challen...

Motion-induced vibration can be greatly reduced by properly shaping the reference command. Input shaping is one type of reference shaping method that is based largely on linear superposition. In this paper we document the impact of nonlinear crane dynamics on the effectiveness of input shaping. As typical bridge cranes are driven using Cartesian motions, they behave nearly linearly for lowand m...

Passivity-based control (PBC) is a well-established technique that has shown to be very powerful to design robust controllers for physical systems described by Euler–Lagrange (EL) equations of motion. For regulation problems of mechanical systems, which can be stabilized “shaping” only the potential energy, PBC preserves the EL structure and furthermore assigns a closed-loop energy function equ...

Input shaping is a method of reducing residual vibrations in computer-controlled machines. Shaped command profiles are generated by convolving a sequence of impulses, an input shaper, with the desired command signal. The shaped command profile will move the system without residual vibration. The performance of several types of input shapers is compared to the time-optimal flexible-body control ...

The regulation of end–effector pose of manipulators is addressed in this paper. Regarding nonredundant manipulators, we present an extension of transpose Jacobian–based regulators obtained by energy shaping, where orientation is represented by unit quaternion. Copyright © 2002 IFAC

the end of the cold war and the disintegration of the soviet :union: marked the start of a new era in international relations. when russia's power and influence weakened, some newly independent states of central asia and the caucasus have taken tendency toward relation with west. for europe resource of new countries notably oil and gas was very important for independent from russia energy....