This paper presents a decentralized control strategy for mobile manipulator systems. First, the whole system of mobile manipulator is divided into two interconnected subsystems: nonholonomic mobile platform subsystem and holonomic manipulator subsystem. Second, a kinematic and dynamic controllers are developed for mobile platform subsystem. The kinematic control provides the desired velocity th...

As the energy transition transforms power grids across the globe it poses several challenges regarding grid design and control. In particular, high levels of intermittent renewable generation complicate the job of continuously balancing power supply and demand, which is necessary for the grid’s stability. Although there exist several proposals to control the grid, most of them have not demonstr...

This paper presents design of nonlinear feedback controllers for two different models representing evacuation dynamics in one dimension. The models presented here are based on the laws of conservation of mass and momentum. The first model is the classical one equation model for a traffic flow based on conservation of mass with a prescribed relationship between density and velocity. The other mo...

Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering stiffness coefficients of the tires, friction coefficient of the road, . . . , which are notoriously difficult to identify. Then a model-free control strategy, whic...