Martin C. Berg

TL;DR: Methods for multirate digital control system design, sampling rate selection, discretization, and synthesis methods are applied to two example design problems andMultirate and single-rate compensators synthesized by the different methods are compared based on closed-loop responses with compensators having the same real-time computation load.

TL;DR: This dissertation presents a framework and algorithms for solving real-time task and path planning problems by combining Evolutionary Computation (EC) based techniques with a Market-based planning architecture that takes advantage of the flexibility of EC-based techniques and the distributed structure of Market- based planning.

TL;DR: The estimation performances of extended Kalman filters are compared in applications to a planar two-axis robotic arm with very flexible links to shed new light on the dependence of extendedKalman filter estimation performance on the quality of the model of the arm dynamics that the extended Kal man filter operates with.

TL;DR: In this article, an adaptive estimation method is developed to generate real-time estimates of the position and orientation of the end-effector of an industrial robot and estimates of root mean squared errors in these estimates, using real time measurements of a point on the end effector, in addition to the usual measurements of the joint positions.

TL;DR: In this paper, the use of constant-gain pulse width control laws for precise positioning of structurally flexible plants subject to stiction and Coulomb friction is analyzed, and sufficient conditions for stability and self-sustained oscillation of this closed-loop system are derived.