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Showing 1 to 9 of 9 for “"Lagrangian Systems"”.
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Control of networked Lagrangian systems with delays
Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2011-04-07T21:54:57Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 2 DissFiles.zip: 17030006 bytes, checksum: 92249adf3a2c3a3a4d466fa347b30556 (MD5) Rodriguez-Seda_Erick.pdf: 4405861 bytes, …
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Efficient Learning and Inference for High-dimensional Lagrangian Systems
… to the unique structure associated with such systems. Many physical systems of practical interest in engineering are high-dimensional, which prohibits the application of standard learning methods to such problems. This first part of this work proposes therefore to solve learning problems …
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Cooperative collision avoidance control and coordination for multiagent Lagrangian systems with disturbances
Multi-agent systems like a network of autonomous robots, have tremendous potential in many military and civilian applications. But, even viewed as a pure academic problem, designing controllers for such complex systems is a matter of much interest. Controller design for multi-agent system might …
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Stability and robustness of adaptive controllers for underactuated Lagrangian systems and robotic networks
… an adaptive control framework for underactuated Lagrangian systems and robotic networks. In particular, an adaptive control framework is designed for a manipulator, which operates on an underactuated dynamic platform. The framework promotes the use of a filter in the control input to improve the …
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Nonlinear control and synchronization of multiple Lagrangian systems with application to tethered formation flight spacecraft
… on the synchronization of multiple dynamical systems using contraction theory, with applications to cooperative control of multi-agent systems and synchronization of interconnected dynamics such as tethered formation flight. Inspired by stable combinations of biological systems, contraction …
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Output Synchronization of Networked Passive Systems
… general problem of synchronization of multiple Lagrangian systems. The problems of multi-robot coordination and of bilateral teleoperation with time delay are shown to be special cases of our general results.
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Practical Challenges in the Method of Controlled Lagrangians
The method of controlled Lagrangians is an energy shaping control technique for underactuated Lagrangian systems. Energy shaping control design methods are appealing as they retain the underlying nonlinear dynamics and can provide stability results that hold over larger domain than can be obtained …
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Convergence of Kernel Methods for Modeling and Estimation of Dynamical Systems
… for representing the uncertain dynamical systems, concerns also arise regarding the reliability of these methods. Recent developments in approximation theory provide a new perspective to studying these problems. This dissertation analyzes the convergence of two kernel-based, data-driven …