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This paper deals with the attitude control of an underwater robot for marine archaeology, which is being developed in the framework of the TECSIS project. The control scheme is based on the use of a fuzzy extension of a traditional PD feedback loop. The controller is implemented by using a LQG control for the linearized system, where the attitude control has been developed using quaternionic algebra...
This paper introduces an adaptive feedback control strategy for (max,+)-linear systems. The feedback loop is tuned following to an estimation of the system transfer and in order to match a given reference model. An application of such an adaptive control strategy is possible for some manufacturing systems in which the feedback control corresponds to an adaptive resource allocation
The paper describes the control architecture and the motion strategy of a five degrees of freedom robotic leg. The prototype realized is pneumatically actuated, so the control strategy is specifically designed in order to ensure a proper stability during the motion. The control architecture is composed of a three level feedback loop that allows a three dimensional trajectory generation, directly in...
In this paper we consider a quantized discrete-time linear quadratic regulator (DLQR) problem, namely a DLQR problem where the input u may only take values in a given finite set 14. Eased on our previous results on the optimal control of hybrid systems we show that the optimal control law for the quantized DLQR problem takes the form of a feedback control law, that can be obtained from a partition...
The problem of exact model matching with simultaneous disturbance rejection (EMMDR) for general neutral multi-delay systems, via proportional realizable controller feeding back measurable disturbances and measurement outputs, is studied. The desired model is assumed to be left-invertible. For this problem the following two major issues are resolved: the necessary and sufficient conditions for the...
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