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On Computation of Optimal Controllers Subject to Quadratically Invariant Sparsity Constraints
Quadratically Invariant Sparsity Optimal Controllers
2015/6/19
We consider the problem of constructing optimal sparse controllers. It is known that a property called quadratic invariance of the constraint set is important, and results in the constrained minimum-n...
Design of Switching Strategy for Adaptive Cruise Control Under String Stability Constraints
ACC String Stability Switching Strategy
2015/1/20
An Adaptive Cruise Control (ACC) system is a driver assistance system that assists a driver to improve driving safety and driving comfort. The design of ACC controller often involves the design of a s...
A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints
Riemannian-Geometry Approach Dynamics Object Manipulation Constraints
2009/9/4
A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under holonomic or non-holonomic constraints is presented. First, position/force hybrid control of an endeffe...