Pawel Cesar Sanjuan Szklarz

EIIPII · IT

This paper addresses dynamics modelling and control of mechanical systems subjected to constraints due to the tasks they are to perform. The researched problem refers to the control of a manipulator end-effector motion subjected to a constraint on an acceleration change, that is, jerk. In the presented approach, the acceleration and jerk constraint...

A coordinate-free formulation of nonholonomic constraint equations for wheeled vehicles is presented. The no-slip condition for the contact point of the wheel with the ground is translated to a pure geometric formula. Based on this general geometric interpretation, explicit formulas for nonholonomic constraints are derived. The final calculations o...

A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then related to a function minimization problem over the system trajectory. It is shown that such minimization problems are strictly rela...

Information exchange in a NATO Network Enabled Capabilities context (need to share) requests a correct understanding of the meaning of the provided information and equally important a filtering process to enable focusing on relevant information while accessing other information remains possible. This paper describes a filtering process where task-b...

Tracking or following a trajectory at a kinematic level is the most common approach to control nonholonomic systems. The classical feedback approaches may be either local or global. The local approach to feedback control is achieved through the standard linear control design. Convergence is obtained provided that a system, e.g. a vehicle, starts it...