A current survey of the emerging field networked control systems is provided. The aim to introduce fundamental issues involved in designing successful systems, provide a snapshot assessment state research field, suggest useful future directions, and broad perspective on recent results. Reflecting goals Special Issue itself, this paper surveys relevant work from areas control, signal processing, detection estimation, data fusion, distributed systems. We discuss appropriate network...

This special issue provides information on current and future research directions in the emerging field of networked control systems. The first paper a comprehensive overview field. remaining 11 papers are organized three sections: section "current state technology systems"; foundations real-time "wireless networks - backbone systems." Each is briefly discussed.

In the growing literature on redundant manipulator control, a number of techniques have been proposed for solving inverse kinemetics problem. Some these are surveyed with discussion strengths and weaknesses each. A new approach, called extended Jacobian technique, is also presented. It argued that because this technique may be expected to lift closed end effector paths joint angle paths, it provides promising approach control kinematically industrial manipulators. further shown implemented...

In this paper, we introduce two distinct types of nonlinear dynamical systems, /spl Tscr//sub 1/ and 2/, both which possess a triangular structure. It is shown that all systems belonging to can be made stable if they belong subclass 1s/, the stability holds globally. A precise characterization general class transformable carried out. The second class, corresponds set second-order differential equations motivated by problems occur in mechanical systems. global tracking achieved for 2/....

While obstacles in a robot workspace can effectively reduce the number of degrees freedom, there need not be corresponding loss functionality for kinematically redundant mechanisms. In this paper, disk-like planar three-bar mechanism are classified. The extended Jacobian technique is used to implement an obstacle avoidance based on optimizing distance criterion. feasibility applying multiple constraints or optimality criteria resolving redundancy investigated.

Because kinematically redundant robot manipulators have extra degrees of freedom with which to move and orient end effectors in the workspace, they offer a number advantages over nonredundant designs. In this paper we show how may be used mitigate problem singular configurations. Programming control techniques for resolution redundancy are presented.

Efforts to apply computer vision and various optical acoustic proximity sensors for distributed/ coordinated motion control of a small group autonomous vehicles has led us consider number natural feedback laws which utilize realtime measurements relative distances between the vehicles. Unfortunately, none satisfies Brockett's necessary conditions asymptotic stabilization. They do appear provide basis practical solutions interesting vehicle problems, however. Part rationale proposing are not...

The problem of digital finite communication bandwidth (DFCB) control has come to the attention research community in connection with a growing interest development distributed and/or networked systems. In these systems, actuators, sensors, and other components are connected via data-rate constrained links such as wireless radio, etc. this paper, we consider scalar model DFCB that accommodates time-varying constraints, might occur intermittent network congestion, asynchronism sampling...

Path planning techniques for kinematically redundant manipulators are developed which involve the optimization of integral cost criteria. For a variety such criteria, necessary condition consists n+l first-order differential equations, where n is number manipulator degrees freedom and l degree redundancy. This essentially equivalent to system 2n equations announced by Y. Nakamura, H. Hanafusa (Int. J. Robotics Res., vol.6, no.1, pp.32-42, 1987). Refinements these basic conditions various...

Electric utility analysts today face an increasingly difficult task of formulating both long and short term operating plans which will provide at the same time efficient economical operation while delivering reliable uninterrupted service to electricity users. One key ingredients in this planning is a set large scale simulations steady-state network performance under various anticipated conditions. Central these analyses are classical "load flow" equations equilibrium for "swing equations"...

New criteria are found which imply the existence of chaos in <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">R^n</tex> . These differ significantly from previously reported mathematics literature, and fact our methods apply to a class systems do not satisfy hypotheses usual theorems on The results stated such way as preserve flavor many well-known frequency-domain stability techniques. provide easily verifiable for dimension greater than one.

The paper begins with a restatement and proof of tight bound on the data capacity feedback channel must provide in order to stabilize half-plane pole. This sets stage for treatment some issues arising source coding signals between controllers plants systems where loops are closed using bandwidth limited communication links. In particular, we interested qualitative dynamics LTI operating near data-rate limit.

The stabilizability and stabilization of a rotating body-beam system with torque control are discussed. This has linear inertial manifold. An operator-theoretic argument is used to provide an alternative proof this fact. By taking into account the effect damping (structural or viscous), stability result J. Baillieul M. Levi (1987) proved using LaSalle principle (1968). It shown that there exists critical angular velocity for use stabilize in neutral configuration constant velocity. For any...