Chaouki T. Abdallah

Survey paper: Static output feedback-A survey

This paper reviews the static output feedback problem in the control of linear, time-invariant (LTI) systems. It includes analytical and computational methods and presents in a unified fashion the knowledge gained in the decades of research into this important open problem. The paper shows that although many approaches and techniques exist to approach different versions of the problem, no efficient algorithmic solutions are available.

Robot Manipulator Control : Theory and Practice

Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

Survey of robust control for rigid robots

Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity approach, the variable-structure approach, the saturation approach, and the robust-adaptive approach. Some guidelines for choosing a method are offered.<<ETX>>

Stability and Stabilization of Systems with Time Delay

Time-delays are important components of many dynamical systems that describe coupling or interconnection between dynamics, propagation, or transport phenomena in shared environments, in heredity, and in competition in population dynamics. This monograph addresses the problem of stability analysis and the stabilisation of dynamical systems subjected to time-delays. It presents a wide and self-contained panorama of analytical methods and computational algorithms using a unified eigenvalue-based approach illustrated by examples and applications in electrical and mechanical engineering, biology, and complex network analysis.

Static output feedback: a survey

This paper reviews the static output feedback problem in the control of linear, time-invariant (LTI) systems. It includes analytical and computational methods and presents in a unified fashion, the knowledge gained in the decades of research into this most important problem.<<ETX>>

A dynamic recurrent neural-network-based adaptive observer for a class of nonlinear systems

Abstract An adaptive observer for a class of single-input single-output (SISO) nonlinear systems is proposed using a generalized dynamic recurrent neural network (DRNN). The neural-network (NN) weights are tuned on-line, with no off-line learning required. No exact knowledge of non-linearities in the observed system is required. Furthermore, no linearity with respect to unknown system parameters is assumed. The DRNN observer does not assume that nonlinearities in the system are restricted to the system output only. The overall adaptive observer scheme is shown to be uniformly ultimately bounded. Simulation results have verified the performance of the DRNN observer.

Delayed Positive Feedback Can Stabilize Oscillatory Systems

This paper expands on a method proposed in [1] for stabilizing oscillatory system with positive, delayed feedback. The closed-loop system obtained is shown (using the Nyquist criterion) to be stable for a range of delays.

Wireless communications and networking: an overview

This paper presents an overview of wireless local-area networks (LANs) and wireless personal area networks (PANS), with emphasis on the two most popular standards: IEEE 802.11, and Bluetooth. While there are many such surveys in the current literature and online, we attempt here to present wireless LANs and PANS in a unified fashion as a viable alternative to wired LANs, while stressing the remaining challenges and limitations.

Robust Multi-Objective Feedback Design by Quantifier Elimination

This paper shows how certain robust multi-objective feedback design problems can be reduced to quantifier elimination (QE) problems. In particular it is shown how robust stabilization and robust frequency domain performance specifications can be reduced to systems of polynomial inequalities with suitable logic quantifiers, ? and ?. Because of computational complexity the size of problems that can solved by QE methods is limited. However, the design problems considered here do not haveanalyticalsolutions, so that even the solution of modest-sized problems may be of practical interest.

Contril of rigid-link, flexible-joint robots:a survey of backstepping approaches

The purpose of this article is to show how the design procedure commonly referred to as integrator backstepping can be used to design globally stable trajectory tracking controllers for Rigid-Link Flexible-Joint (RLFJ) robot manipulators. Three different types of controllers are developed: (1) an exact model knowledge-based controller, (2) an adaptive controller that compensates for parametric uncertainty, and (3) a robust controller that compensates for parametric uncertainty and unknown bounded disturbances. All three controllers are based on previously published work but are presented here in a unifying framework.