Mojmil Cecic

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In this paper we present a model free hybrid visual servoing system. The “model free” term refers to the system with the unknown kinematics model that has to be estimated on-line, while “hybrid” specifies the visual controller architecture. The proposed system has a conventional Jacobian estimation part necessary for control output generation and it is(More)
The article presents real time rigid body orientation estimation using inertial and magnetic sensors. Based on the review of orientation estimation literature we suggest, as possible alternative to standard approaches, novel two-layer stochastic estimation filter architecture based on Kalman and particle filters combined into two layers. Two-layer(More)
-In this paper we have proposed and evaluated a new method for human anthropometric parameters estimation. Method is planed to be simple and fast, thus suited for examiners with no experience in the anthropometric measurements. An anthropometric data obtained by this method, segments masses and lengths, are primarily used for biomechanics applications, but(More)
Sažetak: U članku su predstavljeni različiti integralni kriteriji optimiranja sa sljedećim integralnim mjerama kakvoće upravljanja: integral apsolutne vrijednosti pogreške, integral kvadrata pogreške, integral vremenski otežane apsolutne vrijednosti pogreške, integral vremenski otežanog kvadrata pogreške. Te su integralne mjere kakvoće upravljanja korištene(More)
Modified Model-Reference Variable-Structure (MRVS) control methods are presented in the paper. Elimination of control signal chattering in order to reduce energy consumption is further shown. Four different integral optimization criterions with the following integral performance indices are described: integral of absolute value of function, integral of(More)
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