Buscar
Mostrando ítems 1-8 de 8
Lyapunov design of multivariable MRAC via generalized passivation
(2015-01-01)
A Lyapunov design of multiple input, multiple output (MIMO) model-reference adaptive control (MRAC) systems is proposed using new generalized passivity concepts based on WSPR and WASPR properties. The new design avoids ...
Location and Classification of Moving Fruits in Real Time with a Single Color Camera
(Instituto de Investigaciones Agropecuarias, INIA, 2009)
Non-Uniformity of a Pattern and ”the Best” Single View 3D Pose Estimator
(Computación y Sistemas, 2009)
Suboptimal robust linear visual servoing for a delayed underactuated system
(2012)
In this contribution, a suboptimal robust control law for a specific class of underactuated delayed system is synthesized. The control strategy based on very well-known results for delay-dependent stability considers the ...
Passivity-based Visual Feedback Control with Dynamic Compensation of Mobile Manipulators: Stability and L2-Gain Performance Analysis
(Elsevier, 2015-02)
This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system ...
Using a 3DOF Parallel Robot and a Spherical Bat to hit a Ping-Pong Ball
(Sage Publications, 2014-03)
Playing the game of Ping-Pong is a challenge to human abilities since it requires developing skills, such as fast reaction capabilities, precision of movement and high speed mental responses. These processes include the ...
An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
(Molecular Diversity Preservation International, 2013-08)
This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera ...
Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
(Plapiqui, 2013-12)
This work proposes a pose-based visual servoing control, through using planar homography, to estimate the position and orientation of a miniature helicopter relative to a known pattern. Once having the current flight ...