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Active Perception, Navigation, Homing, and Grasping
(1994)Proceedings From Perception to Action Conference, 1994Conference Paper -
Conception évolutionniste de réseaux de neurones pour le contrôle de robots mobiles
(1994)Proceedings of the Neurosciences et Sciences pour l'Ingenieur (NSI)Conference Paper -
Mobile Robot Miniaturization
(1993)Lecture Notes in Control and Information Sciences ~ Experimental robotics III : the 3rd International Symposium, Kyoto, Japan : October 28-30, 1993Conference Paper -
Approaches to data modelling in GIS
(1997)GIS for Environmentally Sustainable Development. Proceedings of the International Conference INTERCARTO 3Conference Paper -
Capturing nonlinearities with perturbation models
(1997)IFAC Proceedings Volumes ~ IFAC Symposium on System Identification (SYSID'97)This paper investigates the use of robust control perturbation models for describing nonlinear systems. We use model validation techniques to find the smallest linear dynamic perturbation required to describe a particular behaviour of a nonlinear system. The Moore-Greitzer model of rotating stall in jet engines is used as a detailed example.Conference Paper -
Emissions and performance tradeoffs for advanced marine diesel propulsion
(1998)IFAC Proceedings Volumes ~ Control applications in marine systems : a proceedings volume from the IFAC conferenceA multivariable control scheme is designed that reduces smoke generation on an experimental marine Diesel engine equipped with a variable geometry turbocharger (v). The variable geometry turbocharger allows the improvement of the steady-state ship hydrodynamic and propulsion characteristics and requires coordination with the injected mass fuel to achieve a good transient performance.Conference Paper -
The stability analysis of sampled-data systems with averaging samplers and time delays
(1996)IFAC Proceedings Volumes ~ Proceedings of the 13th World CongressAn exact analysis of the stability of a sampled-data feedback loop, involving an averaging sampler and continuous-time delays, is presented. An equivalent discrete-time model is derived and it is shown that the continuous-time behaviour at frequencies greater than the sample frequency can significantly affect the system stability, leading to counterintuitive analysis results. An optical fiber link synchronization application is studied ...Conference Paper -
Control-oriented model validation
(1997)IFAC Proceedings Volumes ~ IFAC Symposium on System Identification (SYSID'97)Model validation is a means of assessing model quality with respect to experimental data. In a robust control context this amounts to determining whether or not a perturbation model is consistent with observed data. T his paper offers a survey of recent results on model validation for H-infinity compatible perturbation models. Several model paradigms and experiment frameworks are considered. The first is a frequency-domain setting for ...Conference Paper -
Closed-Loop Aeromaneuvering for a Mars Precision Landing
(1997)NASA University Research Centers Technical Advances in Education, Aeronautics, Space, Autonomy, Earth and EnvironmentControlled aeromaneuvering is considered as a means of achieving a precisely targeted landing on Mars. This paper presents a preliminary study of the control issues. The candidate vehicle is the existing Mars Pathfinder augmented with roll thrusters and a center of mass offset actuator. These allow control of both bank angle and lift force, giving the ability to control the range and cross-track during the aeromaneuvering entry. A preliminary ...Conference Paper -
Experimentally based calculation of robust control perturbation models
(1994)IFAC Proceedings Volumes ~ System identification : a postprint volume from the IFAC symposiumThis paper addresses the problem of obtaining robust control models from a combination of experimental data and a priori knowledge. A perturbation structure and nominal model may be obtained from a combination of system structural information and standard identification procedures. The problem considered here assumes the perturbation structure and a nominal model to be given. The objective is to calculate a suitable frequency dependent ...Conference Paper