Proceedings of the 15th IFAC World Congress, 2002
World Congress, Volume# 15 | Part# 1
Location: , Barcelona Spain
National Organizing Committee Chair: Gabriel Ferraté;
Eduardo F. Camacho
International Program Committee Chair: Luis Basañez;
Juan A. de la Puente
Conference Editor: Luis Basañez;
Juan A. de la Puente
ISBN: 978-3-902661-74-6
Start Date: 2002-07-21
End Date: 2002-07-26
| Paper Title | Authors | Updated | |
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| WWW-based remote control using TINI cards and Brazil | J. J. Elosua; J. C. Burguillo | 2002-07-21 |
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Authors: J. J. Elosua; J. C. Burguillo
Abstract: In this paper a fast, compact, cost-effective solution to build Web-based remote control systems is presented. This solution has been developed using a compact architecture given by the powerful combination of TINI cards (Tiny InterNet Interface) and the Brazil platform. This infrastructure has been combined and put into practice building a system that controls a robot and a video camera. This system is entirely Java-based so cross-platform, security and network facilities are inherited.
Keywords: remote control,mobile robot,telematics,internet,Java
Identifier: 10.3182/20020721-6-ES-1901.00934
Conference: Proceedings of the 15th IFAC World Congress, 2002
Location: , Barcelona, Spain
Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002
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| Youla parametrization applied to a GPC controlled SISO system | P. Rodriguez; D. Dumur; S. Font | 2002-07-21 |
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Authors: P. Rodriguez; D. Dumur; S. Font
Abstract: This paper presents a new approach based on Youla parametrization, to retune Generalised Predictive Control (GPC) law while preserving its two degrees of freedom structure. This results in a more robust controller with improved high frequency disturbance rejection properties. The proposed strategy expresses an initial controller in a powerful form via the Youla theory, each transfer function of the resulting closed loop system being independently modified. This structure is then particularised to GPC, to adjust the transfer between measurement noise and system output, without changes in the initial input/output closed loop, so that performance of the initial GPC controller is enhanced.
Keywords: generalized predictive control,robust control,stabilizing controllers,parametrization,induction motors
Identifier: 10.3182/20020721-6-ES-1901.00617
Conference: Proceedings of the 15th IFAC World Congress, 2002
Location: , Barcelona, Spain
Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002
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| Zero dynamics of underactuated planar biped walkers | E. R. Westervelt; J. W. Grizzle; D. E. Koditschek | 2002-07-21 |
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Authors: E. R. Westervelt; J. W. Grizzle; D. E. Koditschek
Abstract: The zero dynamics of a hybrid model of bipedal walking are introduced and studied for a class of N-link, planar robots with one degree of underactuation and outputs that depend only on the configuration variables. Asymptotically stable solutions of the zero dynamics correspond to asymptotically stabilizable orbits of the full hybrid model of the walker. The Poincaré map of the zero dynamics is computed and proven to be diffeomorphic to a scalar, linear, time-invariant system, thereby rendering transparent the existence and stability properties of periodic orbits.
Keywords: limit cycles,geometric approaches,hybrid modes,nonlinear control,robot control
Identifier: 10.3182/20020721-6-ES-1901.00904
Conference: Proceedings of the 15th IFAC World Congress, 2002
Location: , Barcelona, Spain
Start Date: Sun Jul 21 2002 - End Date: Fri Jul 26 2002
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