A low-complexity interpolating control scheme based on the concept of periodic invariance is proposed. Periodic allows state trajectory to leave controllable invariant set temporarily but return into in a finite number steps. with easy representation considered reduce expensive computation set. Since this not traditional set, vertex reachability problem target sets solved off-line for each and ...

Robots are typically expected to perform multiple tasks. For realizing tasks using multi-degrees-of-freedom of a robot, priority control was developed. The prioritizes conflicting by projecting lower-priority task velocity into null space higher-priority spaces. Similarly, for two on single-degree-of-freedom periodic/aperiodic separation separates state quasi-periodic and quasi-aperiodic states...