Search results for "Step"
showing 10 items of 509 documents
Adaptive Control Design for Underactuated Cranes With Guaranteed Transient Performance: Theoretical Design and Experimental Verification
2022
For antiswing control of underactuated cranes, how to guarantee the converging speed of cranes through control design is essential but still remains unsolved. In this paper, the adaptive antiswing control for underactuated gantry cranes with guaranteed transient performance under unmodeled dynamics and external disturbances is investigated. To sovle this problem, a set of filters are proposed to make the backstepping technique applicable for the control of crane systems. Then through variable transformation the position error and swing angel could be guaranteed converging to the origin with a given exponential speed. Hardware experiments are conducted to show that the proposed scheme achiev…
Adaptive backstepping based consensus tracking of uncertain nonlinear systems with event-triggered communication
2021
Abstract This paper investigates the consensus tracking problem for a class of uncertain high-order nonlinear systems with parametric uncertainties and event-triggered communication. Under a directed communication condition, a totally distributed adaptive backstepping based control scheme is presented. Specifically, a decentralized triggering condition is adopted in this paper such that continuous monitoring of neighboring states, as required in some existing results, can be avoided. Besides, to handle the non-differentiability problem of virtual controllers, which arises from the utilization of neighboring states collected only at the triggering instants, the virtual controllers in each re…
Approximation-based adaptive tracking control of stochastic nonlinear systems with a general form
2014
In this paper, an approximation-based adaptive tracking control scheme is proposed for a class of stochastic nonlinear systems with a more general structure. Fuzzy logical systems are used to approximate unknown nonlinearities in the controller design procedure and the backstepping technique is utilized to construct a state-feedback adaptive controller. The proposed controller can guarantee that all the signals in the closed-loop system are fourth-moment semi-globally uniformly ultimately bounded and the tracking error eventually converges to a small neighborhood around the origin. Simulation results are used to show the effectiveness of the proposed control scheme.
3D structural modeling and restoration of the Apennine-Maghrebian chain in Sicily: Application for non-cylindrical fold-and-thrust belts
2019
International audience; Thirteen seismic reflection profiles and field observations have been used to build a three-dimensional watertight geological model of the sub-surface architecture of the Trapanese carbonate platform unit of the Apennine-Maghrebian chain in the Mt. Kumeta and Mt. Rocca Busambra (NW Sicily, Italy). Either a single step or a two-step thrust-fault deformation model is acceptable on the basis of seismic interpretation but the integration of 3D model reconstruction and 3D geomechanical restoration, validates only the scenario with a single stage of deformation.The 3D model highlights along strike variations of the structural style for the Trapanese unit where pre-existing…
Exploring relationships between pixel size and accuracy for debris flow susceptibility models: a test in the Giampilieri catchment (Sicily, Italy).
2014
Debris flows are among the most hazardous phenomena in nature, which typically take the form of multiple-occurrence regional landslide events triggered by intense driving inputs such as storms or earthquakes. The main tasks of this study were to verify whether cell-based susceptibility models is capable of predicting debris flow initiations in the Giampilieri catchment (southern Italy) and to explore the relationships between the pixel size of the adopted mapping units in terms of predictive performances of the derived models. The Giampilieri catchment is a small area (10km 2 ) hit by a storm on the 1 st October 2009 which resulted in the triggering of more than one thousand landslides and …
Fotografia e cultura visuale: una grammatica della modernità
2022
Visual culture studies and photography are the keywords for understanding the contemporary, the age of digital images. The aim of this paper is to verify the role of photography in order to give form and meaning to the experience.
A tool to observe the phenomenology and aesthetics of primary relationships: the “dance steps” of reciprocity between caregivers and infant/child – P…
2023
This study addresses the complexity of caregiver-infant/child interactions from the theoretical frame of Gestalt psychotherapy and the field of application of Pediatric Psychology. Based on a previous empirical study on the process of reciprocity in caregiver-infant/child interactions (Spagnuolo Lobb, 2016), the authors have worked on the construction of an observational tool to look at the co-creation of meaningful experiences, switching the focus from the child to the “dance” of reciprocity between caregiver and infant/child. Considering the contextualization in the field of Pediatric Psychology, this pilot study aimed to test the tool’s application with caregiverpreterm infant dyads, but…
Scritti in onore di Pellegrino Capaldo
2014
La qualità dei servizi è stata riconosciuta come un rilevante aspetto caratterizzante la performance dell’azienda pubblica, analogamente alla capacità di operare secondo criteri di efficienza e nel rispetto dei vincoli di bilancio. Sebbene sia possibile riscontrare alcuni significativi casi di adozione di politiche di customer satisfaction nelle amministrazioni pubbliche italiane, a tutt’oggi il tema presenta significative criticità, specialmente in ordine agli aspetti metodologici e agli strumenti operativi che consentano di integrare dette politiche nel sistema di programmazione e controllo delle aziende che erogano tali servizi. Il presente lavoro adotta una diversa prospettiva di analis…
APPROXIMATION OF BANACH SPACE VALUED NON-ABSOLUTELY INTEGRABLE FUNCTIONS BY STEP FUNCTIONS
2008
AbstractThe approximation of Banach space valued non-absolutely integrable functions by step functions is studied. It is proved that a Henstock integrable function can be approximated by a sequence of step functions in the Alexiewicz norm, while a Henstock–Kurzweil–Pettis and a Denjoy–Khintchine–Pettis integrable function can be only scalarly approximated in the Alexiewicz norm by a sequence of step functions. In case of Henstock–Kurzweil–Pettis and Denjoy–Khintchine–Pettis integrals the full approximation can be done if and only if the range of the integral is norm relatively compact.