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The Center for Control, Dynamical Systems, and Computation Spring Seminars

Summary: The Center for Control, Dynamical Systems, and Computation
Spring Seminars
A Lyapunov-Based Approach to Control
Engineering Systems
Professor Warren Dixon
University of Florida
Mechanical and Aerospace Engineering
Friday, May 5th, 2006 3:00 - 4:00 PM Engineering II Pavilion
This presentation will provide an overview of several recent Lyapunov-based design methods to control different engineering
systems. The beginning of the presentation will include a high level overview of some advanced techniques for robot manipulator
and mobile robot control designs, whereas the thrust of the presentation will focus on current topics in visual servo control and
path planning. The later focus is motivated by the fact that the Euclidean position and orientation (i.e., pose) of an unmanned
vehicle (UV) is typically required for autonomous navigation and control. Often the pose of an UV is determined by a global
positioning system (GPS) or an inertial measurement unit (IMU). However, GPS may not be available, and IMUs can drift and
accumulate errors over time in a similar manner as dead reckoning.
Given recent advances in image extraction/interpretation technology, an interesting approach to overcome pose measurement,
navigation, and control problems is to utilize a vision system. The majority of the presentation will describes a series of


Source: Akhmedov, Azer - Department of Mathematics, University of California at Santa Barbara


Collections: Mathematics