Dynamics and Control of Human and Robot Motion, Structure and Parameter Identification, Integrated Structure-Control Design Optimization, Optimal Motor Control and Efficient Learning, Functional Recovery and Neurorehabilitation in cases of Cerebral Palsy, Stroke, Parkinson's, Spinal Cord Injury (SCI), etc. Brain-Computer Interfaces (BCI) and Neuroprosthetics, Neural Human Rehabilitation in Posture Stabilization and Goal-directed Motion Tasks, Biped Robots, Humanoid Robots, Underwater Robots, Other Mobile Robots, Optimal Robust Control of Mechanical Structures.
ABSTRACT There are various designs and control tasks for marine systems (MS), where continuously ... more ABSTRACT There are various designs and control tasks for marine systems (MS), where continuously increasing demands for higher speed, improved motion accuracy, and reduced energy consumption are to be satisfied. In order to achieve such complicated performance optimization, it is very important to study MS controllability and their design criteria. An explicit, necessary and sufficient condition has been found to guarantee robustness of decentralized controllers against arbitrary, but bounded disturbances. Thus the feedback control design can be based on optimal trade-off relationships between the bounds of disturbances and the control force limits. These and other reasonable design criteria will be considered in this paper. The design concepts will be illustrated with several examples concerning shape, mass distribution, as well as actuators sizes and locations of controlled MS.
8th IFAC Conference on Control Applications in Marine Systems (2010), 2010
ABSTRACT There are various designs and control tasks for marine systems (MS), where continuously ... more ABSTRACT There are various designs and control tasks for marine systems (MS), where continuously increasing demands for higher speed, improved motion accuracy, and reduced energy consumption are to be satisfied. In order to achieve such complicated performance optimization, it is very important to study MS controllability and their design criteria. An explicit, necessary and sufficient condition has been found to guarantee robustness of decentralized controllers against arbitrary, but bounded disturbances. Thus the feedback control design can be based on optimal trade-off relationships between the bounds of disturbances and the control force limits. These and other reasonable design criteria will be considered in this paper. The design concepts will be illustrated with several examples concerning shape, mass distribution, as well as actuators sizes and locations of controlled MS.
ABSTRACT In many cases, suspended rigid or flexible multibody systems MBS perform undesirable vib... more ABSTRACT In many cases, suspended rigid or flexible multibody systems MBS perform undesirable vibrations in the low frequency domain which can not be efficiently reduced applying only passive control strategies. Active control is, of course, needed in the case of desirable forced vibrations, too. The goal of the proposed paper is to develop a unified approach to the optimal design of actuator systems realizing decentralized vibration control.
The paper presents a unified approach for decentralized feedback control of multibody systems (MB... more The paper presents a unified approach for decentralized feedback control of multibody systems (MBS) in the face of bounded parameter inaccuracies and random disturbances. The approach is based on optimal trade-off relations between the given bounds of perturbations, the system output accuracy, and the control force limits. Several examples will be given to show the applicability of the proposed control design concepts to various-type MBS.
Articulated structures such as humans or animals have many joints and complex multibody and muscl... more Articulated structures such as humans or animals have many joints and complex multibody and muscle dynamics. A challenging issue is how these largescale musculo-skeletal systems are efficiently controlled in dynamic locomotion tasks like walking or running. In such tasks, control functions (neural signals to muscles) have to achieve optimal trade-off between, at least, three important but contradicting performance indices: locomotion speed, accuracy of steps, and energy consumption.
Abstract A global dynamic performance measure for manipulators with decentralized control systems... more Abstract A global dynamic performance measure for manipulators with decentralized control systems is given. The measure is defined on the base of a weak explicit condition on the inverse inertia matrix which is necessary and sufficient for a manipulator to be independent joint controllable (IJC). Most properly designed nonredundant manipulators can be IJC. For a planar three-degree-of-freedom manipulator to be IJC, a simple inequality is derived to show how the link masses should decrease in progressing from the base to the gripper
For control purposes in robotics or rehabilitation, we may use properly simplified dynamic models... more For control purposes in robotics or rehabilitation, we may use properly simplified dynamic models with a reduced number of degrees of freedom. First, we define a set of variables that best characterize its dynamic performance in the required motion task. Second, driving forces/torques are properly assigned in order to achieve the required dynamic performance in an efficient way. The usual performance requirements are for positioning accuracy, movement execution time, and energy expenditure.
Abstract: We propose control strategy for humans that have to perform goal-directed motion tasks ... more Abstract: We propose control strategy for humans that have to perform goal-directed motion tasks and/or posture stabilization tasks. First, we define a set of variables that best characterize the dynamic performance of the controlled system in the required motion task. Second, driving forces/torques are properly assigned in order to achieve the required dynamic performance in an efficient way. The usual performance requirements are for positioning accuracy, movement response, and energy expenditure.
ABSTRACT There are various designs and control tasks for marine systems (MS), where continuously ... more ABSTRACT There are various designs and control tasks for marine systems (MS), where continuously increasing demands for higher speed, improved motion accuracy, and reduced energy consumption are to be satisfied. In order to achieve such complicated performance optimization, it is very important to study MS controllability and their design criteria. An explicit, necessary and sufficient condition has been found to guarantee robustness of decentralized controllers against arbitrary, but bounded disturbances. Thus the feedback control design can be based on optimal trade-off relationships between the bounds of disturbances and the control force limits. These and other reasonable design criteria will be considered in this paper. The design concepts will be illustrated with several examples concerning shape, mass distribution, as well as actuators sizes and locations of controlled MS.
8th IFAC Conference on Control Applications in Marine Systems (2010), 2010
ABSTRACT There are various designs and control tasks for marine systems (MS), where continuously ... more ABSTRACT There are various designs and control tasks for marine systems (MS), where continuously increasing demands for higher speed, improved motion accuracy, and reduced energy consumption are to be satisfied. In order to achieve such complicated performance optimization, it is very important to study MS controllability and their design criteria. An explicit, necessary and sufficient condition has been found to guarantee robustness of decentralized controllers against arbitrary, but bounded disturbances. Thus the feedback control design can be based on optimal trade-off relationships between the bounds of disturbances and the control force limits. These and other reasonable design criteria will be considered in this paper. The design concepts will be illustrated with several examples concerning shape, mass distribution, as well as actuators sizes and locations of controlled MS.
ABSTRACT In many cases, suspended rigid or flexible multibody systems MBS perform undesirable vib... more ABSTRACT In many cases, suspended rigid or flexible multibody systems MBS perform undesirable vibrations in the low frequency domain which can not be efficiently reduced applying only passive control strategies. Active control is, of course, needed in the case of desirable forced vibrations, too. The goal of the proposed paper is to develop a unified approach to the optimal design of actuator systems realizing decentralized vibration control.
The paper presents a unified approach for decentralized feedback control of multibody systems (MB... more The paper presents a unified approach for decentralized feedback control of multibody systems (MBS) in the face of bounded parameter inaccuracies and random disturbances. The approach is based on optimal trade-off relations between the given bounds of perturbations, the system output accuracy, and the control force limits. Several examples will be given to show the applicability of the proposed control design concepts to various-type MBS.
Articulated structures such as humans or animals have many joints and complex multibody and muscl... more Articulated structures such as humans or animals have many joints and complex multibody and muscle dynamics. A challenging issue is how these largescale musculo-skeletal systems are efficiently controlled in dynamic locomotion tasks like walking or running. In such tasks, control functions (neural signals to muscles) have to achieve optimal trade-off between, at least, three important but contradicting performance indices: locomotion speed, accuracy of steps, and energy consumption.
Abstract A global dynamic performance measure for manipulators with decentralized control systems... more Abstract A global dynamic performance measure for manipulators with decentralized control systems is given. The measure is defined on the base of a weak explicit condition on the inverse inertia matrix which is necessary and sufficient for a manipulator to be independent joint controllable (IJC). Most properly designed nonredundant manipulators can be IJC. For a planar three-degree-of-freedom manipulator to be IJC, a simple inequality is derived to show how the link masses should decrease in progressing from the base to the gripper
For control purposes in robotics or rehabilitation, we may use properly simplified dynamic models... more For control purposes in robotics or rehabilitation, we may use properly simplified dynamic models with a reduced number of degrees of freedom. First, we define a set of variables that best characterize its dynamic performance in the required motion task. Second, driving forces/torques are properly assigned in order to achieve the required dynamic performance in an efficient way. The usual performance requirements are for positioning accuracy, movement execution time, and energy expenditure.
Abstract: We propose control strategy for humans that have to perform goal-directed motion tasks ... more Abstract: We propose control strategy for humans that have to perform goal-directed motion tasks and/or posture stabilization tasks. First, we define a set of variables that best characterize the dynamic performance of the controlled system in the required motion task. Second, driving forces/torques are properly assigned in order to achieve the required dynamic performance in an efficient way. The usual performance requirements are for positioning accuracy, movement response, and energy expenditure.
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Papers by Petko Kiriazov