This paper addresses the position control of valve-controlled cylinder system employed in
hydraulic excavator. Nonlinearities such as dead zone, saturation, discharge coefficient and …

Given the numerous possibilities that formation flying space missions can enable, being
able to design and govern relative trajectories in this scenario is fundamental. Particularly …

This paper presents an extensive tutorial and a complete review on the state-dependent
Riccati equation (SDRE). The review covers contributions from the beginning to (near the …

In this paper, a new strategy for developing effective control policies suitable for guiding the
motion of articulated mechanical systems that are described within the framework of …

In this paper, a closed-chain multibody model of a pantograph/catenary system is developed
and used for the optimal design of a nonlinear controller based on an open-loop control …

The goal of this investigation is to perform a comparative analysis of the principal
methodologies employed for the analytical formulation and the numerical solution of the …

This paper deals with the Lagrange multipliers corresponding to the intrinsic constraint
equations of rigid multibody mechanical systems. The intrinsic constraint equations are …

This paper deals with the dynamics and control of underactuated nonholonomic mechanical
systems. It is shown in this investigation that the same analytical methods can be used for …

In this paper, the digital implementation of a continuous-time robust nonlinear optimal
controller is presented as an experimental study with real-time computations. Complicated …

In this work, the analytical derivation and the computer implementation of the adjoint method
are described. The adjoint method can be effectively used for solving the optimal control …