J. D. Aplevich

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  • W J Book, O Maizza-Neto, +16 authors Subir Kumar Saha
  • 1998
A decomposition of the manipulator inertia matrix is essential, for example, in forward dynamics, where the joint accelerations are solved from the dynamical equations of motion. To do this, unlike a numerical algorithm, an analytical approach is suggested in this paper. The approach is based on the symbolic Gaussian elimination of the inertia matrix that(More)
An optimal indirect stochastic adaptive control is obtained explicitly for linear time-varying discrete-time systems with general delay and white noise perturbation, while minimizing the variance of the output around a desired value one step ahead. The resulting controller incorporates parameter uncertainties. The solution unifies and generalizes previously(More)
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