Site Map
Task Description
Activities
Papers
  DAUIN-TO
  DELEN-TO
  DIMEC-TO
  DIA-RO3
Final report
Last updated:
January 29, 2002

Coordinated by:
Basilio Bona
: bona@polito.it


Optimized Structures and
Intelligent Control Architecture
for Space Manipolators
with Flexible Arms

funded by ASI-ARS contract 99-38

Dipartimento di Automatica e Informatica, DAUIN-TO, Politecnico di Torino

Dipartimento di Elettronica, DELEN-TO, Politecnico di Torino
Dipartimento di Meccanica, DIMEC-TO, Politecnico di Torino
Dipartimento di Informatica e Automazione, DIA-RO3, Università di Roma Tre

 

Papers
(*) Pubblicazione di autori appartenenti a differenti unità del progetto di ricerca.
Papers in common with other research units

DAUIN-TO

1· M. Indri, A. Tornambè, "Robust Control of a Simple Mechanical System Subject to Impacts", 3rd IFAC Symposium on Robust Control Design (ROCOND '2000), Praga, CZ, Giugno 2000. (*)

2· M. Indri, A. Tornambè, "Design of an Output Feedback Control Law for a Mechanical System Subject to Impacts: Output Regulation and Impact Insensitivity", 2nd International Symposium on Impact and Friction of Solids, Structures and Machines, Montreal, Canada, 8-12 Agosto 2000. (*)

3· M. Indri, A. Tornambè, "Impact Control of a Single-Link Robot Striking Different Environments: Theoretical and Experimental Investigation", European Journal of Control, vol. 6, n. 4, pagg. 322-337, 2000. (*)

4· M. Indri, A. Tornambè, "On the Design of a Position Feedback Control Law for a Simple Mechanical System Subject to Impacts", International Journal of Control, vol. 74, n.8, 857-872, 2001. (*)

5· B. Bona, M. Indri, N. Smaldone, "Open System Real Time Architecture and Software Design for Robot Control", 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM01), pagg. 349-354, 2001.

DELEN-TO

1. M. Chiaberge, W. Santero, D. Amerio, Digital Solutions for reProgrammability, SCI'2001, The Fifth Multi-Conference on Systemics, Cybernetics and Informatics, Orlando, Florida, USA, July 22 - 25, 2001.

2. M. Chiaberge, N. Amati, G. Genta, An Adaptive Walking Machine for Planetary Explorations, Autonomous Minirobots for Research and Edutainment Conference, AMiRE 2001, Paderborn, Germany, October 22-25, 2001. (*)

3. L.M. Reyneri, M. Chiaberge, L. Lavagno, B. Pino, E. Miranda, Simulink based HW/SW codesign of embedded Neuro-Fuzzy systems, International Journal of Neural Systems, Vol. 10, No. 3 (June, 2000), pp. 211-226

4. S. Carabelli, M. Chiaberge, E. Miranda, A. Argondizza, A. Delmastro, Rapid Control Engineering for Industrial Applications, IEEE International Symposium on Computer Aided Control System Design, Sept. 2000. (*)

5. N. Amati, M. Chiaberge, G. Genta, E. Miranda, L. Reyneri, WALKIE6: a walking rover demonstrator for planetary exploration, Clawar Newsletter, Issue 5, August 2000. (*)

DIMEC-TO

1. Tonoli, S. Oliva, S. Carabelli, P. Civera, Charge Driven Piezoelectric Transducers in Self-Sensing Configuration, Proceedings of SPIE - Smart Structures and Integrated Systems, Vol. 4327, pp. 743-752, Newport Beach (CA), 5-8 March 2001.(*)

2. S. Carabelli A. Tonoli, System Properties of Flexible Structures with Self-Sensing Piezoelectric Transducers, Journal of Sound and Vibration, Vol. 235, No. 1, pp. 1-23., 2000.(*)

3. Tonoli and A. Festini and E. Zenerino, Controllo Delle Vibrazioni Di Strutture Flessibili Mediante Smorzatori Dinamici a Correnti Parassite, Atti Del XXX Convegno Nazionale dell'Associazione Italiana Per l'Analisi Delle Sollecitazioni, pp. 1511-1521, Alghero (SS), 12-15 Settembre 2001.

DIA-RO3

1. M. Indri, A. Tornambè, "Impact Control of a Single-Link Robot Striking Different Environments: Theoretical and Experimental Investigation", European Journal of Control, vol. 6, n. 4, pagg. 322-337, 2000. (*)

2. M. Indri, A. Tornambè, "On the Design of a Position Feedback Control Law for a Simple Mechanical System Subject to Impacts", International Journal of Control, vol. 74, n. 8, pagg.857-872, 2001. (*)

3. L. Menini and A. Tornambè, ``Asymptotic tracking of periodic trajectories for a simple mechanical system subject to non-smooth impacts,'' IEEE Trans. Automatic Control, vol. 46, pp. 1122-1126, July 2001.

4. L. Menini and A. Tornambè, ``Velocity observers for linear mechanical systems subject to single non-smooth impacts,'' Systems & Control Letters, no. 43, pp. 193-202, 2001.

5. L. Menini and A. Tornambè, ``Control of mechanical systems subject to non-smooth impacts,'' IFAC Annual Reviews in Control, vol. 25, pp. 25-42, 2001.

6. L. Menini and A. Tornambè, ``Exponential and BIBS stabilization of one-degree-of-freedom mechanical systems subject to single non-smooth impacts,'' IEE Proc. Control Theory and Applications, vol. 148, pp. 147-155, March 2001.

7. L. Menini and A. Tornambè, ``Control of mechanical systems subject to unilateral constraints,'' SIAM news, pp. 10-11, November 2001.

8. M. Indri, A. Tornambè, "Robust Control of a Simple Mechanical System Subject to Impacts", 3rd IFAC Symposium on Robust Control Design (ROCOND '2000), Praga, CZ, Giugno 2000. (*)

9. M. Indri, A. Tornambè, "Design of an Output Feedback Control Law for a Mechanical System Subject to Impacts: Output Regulation and Impact Insensitivity", 2nd International Symposium on Impact and Friction of Solids, Structures and Machines, Montreal, Canada, 8-12 Agosto 2000. (*)

10. L. Menini and A. Tornambè, ``Control of mechanical systems subject to non-smooth impacts,'' in IFAC Conference ``Control Systems Design'', Bratislava (Slovakia), 2000. 12 pagine.

11. L. Menini and A. Tornambè, ``The use of the barrier method for the impact analysis in mechanical systems,'' in IFAC Conference ``Control Systems Design'', Bratislava (Slovakia), 2000. 6 pagine.

12. L. Menini and A. Tornambè, ``Dead-beat control laws for impacting systems in presence of uncertainties,'' in 39th IEEE Conference on Decision and Control, pp. 3181-3182, Sidney (Australia), 2000.

13. L. Menini and A. Tornambè, ``Asymptotic tracking of periodic trajectories for a simple mechanical system subject to non-smooth impacts,'' in 39th IEEE Conference on Decision and Control, pp. 5059-5064, Sidney (Australia), 2000.

14. L. Menini and A. Tornambè, ``Tracking of admissible ``rolling'' trajectories for a rocking block,'' in 9th IEEE Mediterranean Conference on Control and Automation, Dubrovnik, Croatia, 2001.

15. L. Menini and A. Tornambè, ``Mechanical systems subject to inequality constraints: design of velocity observers,'' in IFAC Symposium on Nonlinear Control Systems Design (NOLCOS'01), Saint Petersburg (Russia), June 2001.
16. L. Menini and A. Tornambè, ``Stabilization of simple mechanical systems subject to inequality constraints,'' in Proc. of European Control Conference, Porto (Portugal), September 2001.

17. L. Menini and A. Tornambè, ``Modelling and control of an impacting flexible circular ring,'' in Proc. of European Control Conference, Porto (Portugal), September 2001.

18. L. Menini and A. Tornambè, ``Modification of the Youla-Kucera parameterization for linear mechanical systems subject to non-smooth impacts,'' in 40th IEEE Conference on Decision and Control, Orlando (FL, USA), December 2001.

19. L. Menini and A. Tornambè, ``Use of non-smooth impacts for the control of (otherwise) uncontrollable linear mechanical systems,'' in 40th IEEE Conference on Decision and Control, Orlando (FL, USA), December 2001.