Search
CSV
RISRigidity Based Stabilization of Multi Agent Formations
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper is concerned with the decentralized formation control of multiagent systems moving in the plane using rigid graph theory. Using a doubleintegrator agent model (as opposed to the simpler, singleintegrator model), ...
Robust Adaptive Control of the Nonlinearly Parameterized Human Shank Dynamics for Electrical Stimulation Applications
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we introduce two robust adaptive controllers for the human shank motion tracking problem that is inherent in neuromuscular electrical stimulation (NMES) systems. The control laws adaptively compensate for ...
Three Dimensional Dynamic Formation Control of Multi Agent Systems Using Rigid Graphs
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we consider the problem of formation control of multiagent systems in threedimensional (3D) space, where the desired formation is dynamic. This is motivated by applications where the formation size and/or ...
Control of Directed Formations Using Interconnected Systems Stability
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the problem of rigid formation control using directed graphs in both two-dimensional (2D) and three-dimensional (3D) spaces. Directed graphs reduce the number of communication, sensing, and/or control ...
Nussbaum-Type Neural Network-Based Control of Neuromuscular Electrical Stimulation With Input Saturation and Muscle Fatigue
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Neuromuscular electrical stimulation (NMES) is a promising technique to actuate the human musculoskeletal system in the presence of neurological impairments. The closed-loop control of NMES systems is nontrivial due to ...