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Full-Text Articles in Computer Engineering
A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski
A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski
Electronic Thesis and Dissertation Repository
This thesis deals with development and experimental evaluation of control algorithms for stabilization of robot-environment interaction based on the conic systems formalism and scattering transformation techniques. A framework for stable robot-environment interaction is presented and evaluated on a real physical system. The proposed algorithm fundamentally generalizes the conventional passivity-based approaches to the coupled stability problem. In particular, it allows for stabilization of not necessarily passive robot-environment interaction. The framework is based on the recently developed non-planar conic systems formalism and generalized scattering-based stabilization methods. A comprehensive theoretical background on the scattering transformation techniques, planar and non-planar conic systems is presented. …
Generalized Scattering-Based Stabilization Of Nonlinear Interconnected Systems, Anastasiia Usova
Generalized Scattering-Based Stabilization Of Nonlinear Interconnected Systems, Anastasiia Usova
Electronic Thesis and Dissertation Repository
The research presented in this thesis is aimed at development of new methods and techniques for stability analysis and stabilization of interconnections of nonlinear systems, in particular, in the presence of communication delays. Based on the conic systems' formalism, we extend the notion of conicity for the non-planar case where the dimension of the cone's central subspace may be greater than one. One of the advantages of the notion of non-planar conicity is that any dissipative system with a quadratic supply rate can be represented as a non-planar conic system; specifically, its central subspace and radius can be calculated using …