We propose a general strategy for solving the motion planning problem for real analytic, controllable systems without drift. The procedure starts by computing a control that steers the given initial point to the desired target point for an extended system, in which a number of Lie brackets of the system vector elds are added to the right-hand side. The main… (More)
Consideration is given to the behavior of the least-squares problem that arises when one attempts to train a feedforward net with no hidden neurons. It is assumed that the net has monotonic nonlinear output units. Under the assumption that a training set is separable, that is, that there is a set of achievable outputs for which the error is zero, the… (More)
The purpose of this paper is twofold. First, we want to explain the basic concepts of optimal presynthesis and synthesis, and show how the theory of subanalytic sets can be used to prove existence theorems. Second, we want to establish the link with several other papers in this volume, by showing how the results on synthesis lead to the search for theorems… (More)
We prove that the angular velocity equations can be smoothly stabilized with a single torque controller for bodies having an axis of symmetry. This complements a recent result of Aeyels and Szafranski.
Nonlinear control via approximate input-output linearization: The ball and beam example, " IEEE Trans. Some numerical aspects of approximate lineariztion of single input nonlinear systems, " Int. a class of nonlinear system based on approximate feedback linearization, " IEICE Trans. A singular perturbation analysis of high-gain feedback systems, " IEEE… (More)
Nonlinear output feedback design for linear systems with saturating controls, " in Proc. IEEE Conf. Decision and Control, 1990, pp. 3414–3416.  A. R. Teel, " Global stabilization and restricted tracking for multiple integrators with bounded controls, " Syst. On the stabilizability of multiple integrators by means of bounded feedback controls, " in 30th… (More)
419 Fig. 6. Response with RG, torque constraints, and the constraint j 1 0 2 j 0:2 rad. The generated reference input is depicted (thin line) together with the joint trajectories (thick lines). is taken into account by the RG, and the related simulated trajectories are depicted in Fig 6 with r1(t) = r2(t) 4 ; T = 0:001 s. The slight chatter on the and… (More)
A robot is a device which is behaved like an artificial agent and it is also called as an electro mechanical machine which based on autonomous control. As the robotic based on various control paths which controls the robots by planning, Electronic sensor, Digital signals, Computer mechanics, Coordination, Actuation, Learning and adaptation. In this paper… (More)