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CDC
2010
IEEE
186views Control Systems» more  CDC 2010»
13 years 5 months ago
Contact based robot control through tactile maps
This paper deals with the problem of controlling a robot during a physical interaction through a representation of its tactile system. Although the force feedback has been widely u...
Giorgio Cannata, Simone Denei, Fulvio Mastrogiovan...
CDC
2010
IEEE
115views Control Systems» more  CDC 2010»
13 years 5 months ago
Distributed statistical estimation of the number of nodes in sensor networks
The distributed estimation of the number of active sensors in a network can be important for estimation and organization purposes. We propose a design methodology based on the foll...
Damiano Varagnolo, Gianluigi Pillonetto, Luca Sche...
CDC
2010
IEEE
155views Control Systems» more  CDC 2010»
13 years 5 months ago
Relaxing LMI domination matricially
Given linear matrix inequalities (LMIs) L1 and L2 in the same number of variables it is natural to ask: (Q1) does one dominate the other, that is, does L1(X) 0 imply L2(X) 0? (Q2) ...
J. William Helton, Igor Klep, Scott A. McCullough
CDC
2010
IEEE
122views Control Systems» more  CDC 2010»
13 years 5 months ago
Synchronous motor observability study and an improved zero-speed position estimation design
This paper deals with the Permanent Magnet Synchronous Motor (PMSM) observability analysis for sensorless control design. The problem of loss of observability at low frequency rang...
Dalila Zaltni, Malek Ghanes, Jean-Pierre Barbot, M...
CDC
2010
IEEE
13 years 5 months ago
Stokes-Dirac structures through reduction of infinite-dimensional Dirac structures
Abstract-- We consider the concept of Stokes-Dirac structures in boundary control theory proposed by van der Schaft and Maschke. We introduce Poisson reduction in this context and ...
Joris Vankerschaver, Hiroaki Yoshimura, Melvin Leo...
CDC
2010
IEEE
137views Control Systems» more  CDC 2010»
13 years 5 months ago
Control of large 1D networks of double integrator agents: Role of heterogeneity and asymmetry on stability margin
We consider the distributed control of a network of heterogeneous agents with double integrator dynamics to maintain a rigid formation in 1D. The control signal at a vehicle is all...
He Hao, Prabir Barooah
CDC
2010
IEEE
137views Control Systems» more  CDC 2010»
13 years 5 months ago
Left invertibility of output-quantized systems: An application to cryptography
ABSTRACT. In this paper a secure communication method is proposed, based on left invertibility of output-quantized dynamical systems. The sender uses an output-quantized linear sys...
Nevio Dubbini, Anna Carluccio, Antonio Bicchi
CDC
2010
IEEE
182views Control Systems» more  CDC 2010»
13 years 5 months ago
Hierarchical model predictive control for resource distribution
This paper deals with hierarchical model predictive control (MPC) of distributed systems. A threelevel hierarchical approach is proposed, consisting of a high level MPC controller,...
Jan Dimon Bendtsen, Klaus Trangbaek, Jakob Stoustr...
CDC
2010
IEEE
150views Control Systems» more  CDC 2010»
13 years 5 months ago
An adjoint method for second-order switching time optimization
Abstract-- Switched systems evolve over a sequence of continuous modes of operation, transitioning between modes in a discrete manner. Assuming a mode sequence is known, the evolut...
Timothy M. Caldwell, Todd D. Murphey
CDC
2010
IEEE
111views Control Systems» more  CDC 2010»
13 years 5 months ago
Multi-robot monitoring in dynamic environments with guaranteed currency of observations
Abstract-- In this paper we consider the problem of monitoring a known set of stationary features (or locations of interest) in an environment. To observe a feature, a robot must v...
Stephen L. Smith, Daniela Rus