In this paper, we address the problem of visually guiding and controlling a robot in projective three-space using stereo vision. As the proposed method is entirely formulated in projective space, metric models of the system have become obsolete and ”easy-to-find” projective models of both, the stereo geometry and the robot’s “projective kinematics”, may be used. More precisely, a given task is ...

This paper develops a design of feedforward control for descriptor system with unmeasurable disturbance which are either nonregular or if it is regular, has impulsive mode. To solve this problem, we will transform descriptor system into regular state space system using the output feedback. First, fault detection and isolation(FDI) approach using sliding mode observer is applied for estimating u...

In this paper, the performance of constrained Generalized Predictive Control (CGPC) is investigated on a comprehensive non-linear multivariable simulation of the Dinorwig pumped-storage hydroelectric power station. The responses of the system are compared with those of the classic PI controller, as currently implemented on the plant. The results show that CGPC offers significantly better perfor...

This paper deals with the tracking control design for systems governed by linear parabolic partial differential equations with spatially and temporally varying coefficients and boundary input. For the boundary feedback control the backstepping method is applied, which allows to determine an exponentially stabilizing state feedback controller such that the closed-loop system behaves in the nomin...

A novel virtual error approach is proposed for fully adaptive feedforward control, which plays an important role in nonlinear active noise control and predistortion for nonlinear high power amplifier (HPA). To attenuate the compensation error, two kinds of virtual error are introduced and are forced into zero by adjusting three nonlinear adaptive filters in an on-line manner. It is shown that t...