2022 (vol. 32) - Number 1
J. Cvejn:
The magnitude optimum design of the PI controller for plants with complex roots and dead time
S.F. Al-Azzawi, M.A. Hayali:
Coexisting of self-excited and hidden attractors in a new 4D hyperchaotic Sprott-S system with a single equilibrium point
M.A. Hammami, N. El Houda Rettab, F. Delmotte:
On the state estimation for nonlinear continuous-time fuzzy systems
M. Ilyas, M.A. Khan, A. Khan, Wei Xie, Y. Khan:
Observer design estimating the propofol concentration in PKPD model with feedback control of anesthesia administration
L. Moysis, M. Tripathi, M. Marwan:
Adaptive observer design for systems with incremental quadratic constraints and nonlinear outputs – application to chaos synchronization
S. Vaidyanathan, K. Benkouider, A. Sambas:
A new multistable jerk chaotic system, its bifurcation analysis, backstepping control-based synchronization design and circuit simulation
T.T. Tuan, H. Zabiri, M.I.A. Mutalib, Dai-Viet N. Vo:
Disturbance-Kalman state for linear offset free MPC
Yuan Xu, Jun Wang:
A novel multiple attribute decision-making method based on Schweizer-Sklar t-norm and t-conorm with q-rung dual hesitant fuzzy information
T. Kaczorek:
Observers of fractional linear continuous-time systems
ACS Abstract:
Number 1/2
Feedback control of nonholonomic wheeled vehicles. A survey.

Pascal Morin and Claude Samson (INRIA, France) |
keywords: wheeled mobile robots, nonholonomic systems, driftless nonlinear systems, feedback control, stabilization.
A new control algorithm for a nonholonomic mobile robot

Krzysztof Kozłowski and Jarosław Majchrzak (Poznań University of Technology, Poland) |
keywords: mobile robot, nonholonomic constraints, backstepping procedure.
3-D objects motion estimation based on Kalman Filter and BSP Tree Models for Robot Stereo Vision

Vincenzo Lippiello, Bruno Siciliano and Luigi Villani (Universita degli Studi di Napoli Federico II, Italy) |
keywords: vision, robot manipulators, visual servoing, visual tracking, Kalman filter, Binary Space Partitioning tree.
A robotic stepper device concept for locomotion rehabilitation

Antal K. Bejczy (California Institue of Technology, USA) |
keywords: biped locomotion, rehabilitation, treadmill, force-torque sensing, human-machine interaction and interface.
Sensor system for Safari wall-climbing robot

Piotr Dutkiewicz and Marek Ławniczak (Poznań University of Technology, Poland) |
keywords: sensor system, data flow, mobile robotics, walking robot, climbing robot, image processing, vision system.
Feed-forward torques and reference trajectory for an arm with flexible joints

Yannick Aoustin (Institut de Recherche en Communications et Cybern?tique de Nantes, France) | Alexander Formal'sky (Moscow State Lomonosov University, Russia) |
In a case of one-link flexible arm it is proved that so-called 'fluent' control torque enables to reach the desired motion with a small error and without large vibrations in the flexible joint. Designed fluent commanded feed-forward torque is successfully implemented in numerical experiments. The stiffness coefficient is assumed to be unknown so the mathematical model of the flexible arm is not known exactly.
In two-link flexible arm the stiffness coefficients are also assumed unknown. Due to discontinuities of the optimal control functions and not acceptable jumps in the optimal control torques a `trapezoidal' fluent control technique is proposed. Numerical experiments show that the designed control is close to time-optimal.
The approach presented in the paper can be extended to systems with more links and can take the gravity into consideration. However, in this case a time-optimal or a quasi-time-optimal control for the associated rigid system have to be designed.
keywords: one-two-link arm, flexible joint, control torque, torque bound, reference trajectory, feed-forward and feedback control.
From Continuous to Discrete Models of Linear Repetitive Processes

Artur Gramacki, Jarosław Gramacki (University of Zielona Góra, Poland) | Eric Rogers (University of Southampton, UK) | David H. Owens (University of Sheffield, UK) |
keywords: linear repetitive processes, discretization, MATLAB Toolbox, examples.
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