this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

The open-loop torque control of synchronous motors with minimum torque ripple and minimum copper losses is presented. The control problem is viewed as an optimization problem for the nonlinear mapping from desired torque and position to the motor's phase currents. The performance of the controller to produce virtually ripple-free torque and to enhance the precision of position tracking is demon...

In this paper we examine the application of evolutionary algorithms to find open-loop control solutions of the optimal control problem arising from the semidiscretisation of a linear parabolic tracking problem with boundary control. The solution is compared with the solutions obtained by methods based upon the variational equations of the Minimum Principle and the finite element method.

We study the tracking control of a very manoeuvrable vehicle aimed at autonomous tasks. Two models are used and are shown to be flat; this property is then used to obtain open loop controls. The study is complemented by a stabilization around the desired trajectory.

the aim is to build a controller such that y ( t ) tracks any prescribed reference trajectory y,(t). To avoid ambiguities in the sequel, we call (1) the input-state (IS) system (i.e. without a defined output), (2) the tracking output, and (1)(2) the input-output (Io) system. When the IO system is minimum phase, the tracking problem is easily solved (at least locally) by IO linearization (see e....

Automated segmentation and tracking of cells in actively developing tissues can provide high-throughput and quantitative spatiotemporal measurements of a range of cell behaviors; cell expansion and cell-division kinetics leading to a better understanding of the underlying dynamics of morphogenesis. Here, we have studied the problem of constructing cell lineages in time-lapse volumetric image st...

Free-space laser communication is a promising technology to meet the demand for cost-effective wideband support for future NASA missions. JPL has begun construction at the Table Mountain Facility in California of a 1-meter telescope system, known as the Optical Communication Telescope Laboratory (OCTL) and capable of tracking spacecraft from low Earth orbit to deep space, for development and va...