This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

this paper proposes a new method of gain scheduling control design for a nonlinear system which is described as linear parameter varying form. a performance measure based on linear matrix inequality is introduced. to consider stability and performance measures in design process, the h∞ loop-shaping method is used to design the local controllers, which can be described as state feedback observer...

This paper investigates the robust stability of linear neutral time-varying delay systems with non-linear perturbations. The uncertainties under consideration are nonlinear time-varying parameter perturbations and norm-bounded uncertainties, respectively. Using new Lyapunov-Krasovskii functional and integral inequality matrices, less conservative delay-dependent robust stability conditions for ...

Virtually all effect units that process digital audio—software plug-ins as well as dedicated hardware—can be controlled digitally. This allows subjecting their settings to optimization processes. We demonstrate the automatic adaptation of reverberation plug-ins to given room impulse responses. This facilitates replacing computationally expensive convolution reverberation units with standard one...

This paper addresses the problem of robust H2 and H∞ control of discrete linear time-invariant (LTI) systems with polytopic uncertainties via dynamic output feedback. The problem has been known to be difficult when a parameter dependent Lyapunov function is to be applied for a less conservative design due to non-convexity. Our approach is based on a novel bounding technique that converts the no...

Only the simulation of complete models allows the user to gain detailed insight into the often highly non-linear model behavior. The interactions between driver, combustion engine, electric motors, battery, powertrain, chassis, and road conditions are important factors in finding the optimal parameter set. The model based design of a complete HEV requires extremely fast models when optimization...

We present a new approach for the construction of lower bounds for the inf-sup stability constants required in a posteriori error analysis of reduced basis approximations to affinely parametrized partial differential equations. We combine the “linearized” inf-sup statement of the natural–norm approach with the approximation procedure of the Successive Constraint Method (SCM): the former (natura...

This paper proposes a model transformation approach for model-based energy management in buildings. Indeed, energy management is a large area that covers a wide range of applications such as simulation, mixed integer linear programming optimization, simulated annealing optimization, model parameter estimation, diagnostic analysis,. . . Each application requires a model but in a specific formali...