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Non-linear optimal control for multi-DOF electro-hydraulic robotic manipulators

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IET Cyber-Systems and Robotics 2020年第2期2卷 96-106页

作者： gerasimos rigatos Nikolaos Zervos Masoud Abbaszadeh Jorge Pomares Patrice Wira Unit of Industrial Automation Industrial Systems Institute26504Rion PatrasGreece Unit of Digital Communications Industrial Systems Institute26504Rion PatrasGreece GE Global Research General Electric12309 New YorkUSA Department of Systems Engineering University of Alicante03690 AlicanteSpain IRIMAS Universitéd’Haute Alsace68093MulhouseFrance

A non-linear optimal(H-infinity)control approach is proposed for the dynamic model of multi-degree-of-freedom(DOF)electro-hydraulic robotic *** of electro-hydraulic manipulators is a non-trivial problem because of their non-linear and multi-variable *** this study,the considered robotic system consists of a multi-link robotic manipulator that receives actuation from rotary electro-hydraulic *** article's approach relies first on approximate linearisation of the state-space model of the electro-hydraulic manipulator,according to first-order Taylor series expansion and the computation of the related Jacobian *** the approximately linearised model of the manipulator,a stabilising H-infinity feedback controller is *** compute the controller's gains,an algebraic Riccati equation is solved at each time-step of the control *** global stability properties of the control scheme are proven through Lyapunov *** proposed control method retains the advantages of typical optimal control,*** and accurate tracking of the reference setpoints under moderate variations of the control inputs.

关键词： manipulators robotic optimal

Flatness-Based Control in Successive Loops for Unmanned Aerial Vehicles and Micro-Satellites

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Guidance, Navigation and Control 2023年第4期3卷 26-57页

作者： gerasimos rigatos Masoud Abbaszadeh Krishna Busawon Laurent Dala Unit of Industrial Automation Industrial Systems Institute 26504 Rion Patras Greece Department of ECSE Rensselaer Polytechnic Institute 12065New YorkUSA Nonlinear Control Group University of Northumbria Newcastle NE18STUK Department of Mechanical Engineering University of Northumbria Newcastle NE18ST UK

The control problem for the multivariable and nonlinear dynamics of unmanned aerial vehicles and micro-satellites is solved with the use of a flatness-based control approach which is implemented in successive *** state-space model of(i)unmanned aerial vehicles and(ii)micro-satellites is separated into two subsystems,which are connected between them in cascading *** one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat *** state variables of the second subsystem become virtual control inputs for the first *** turn,exogenous control inputs are applied to the first *** whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability *** validity of the control method is confirmed in two case studies:(a)control and trajectories tracking for the autonomous octocopter,(ii)control of the attitude dynamics of micro-satellites.

关键词： Autonomous octocopter attitude dynamics of micro-satellites multivariable control differential flatness properties flatness-based control in successive loops global stability Lyapunov analysis

Concomitant gastric adenocarcinoma and stromal tumor in a woman with polymyalgia rheumatica

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World Journal of Gastroenterology 2008年第43期14卷 6750-6752页

作者： Panteleimon Kountourakis Niki Arnogiannaki Ilias Stavrinides Nikiforos Apostolikas gerasimos rigatos First Department of Medical Oncology Saint Savvas Anticancer HospitalAthensGreece Pathology Department Saint Savvas Anticancer HospitalAthensGreece

Gastrointestinal stromal tumors （GISTs） are rare neoplasms （1%） of the gastrointestinal tract and to our knowledge only rare cases of synchronous presentation of gastric carcinomas and GISTs are reported in the literature. A 72-year-old female with a simultaneous presentation of gastric adenocarcinoma and GIST is presented. Moreover, due to polymyalgia rheumatica the patient received corticosteroids as treatment for the last 3 years. The concomitant occurrence of these neoplasms may involve common carcinogenic factors and there could be an association with polymyalgia rheumatica either as a paraneoplastic presentation or due to its treatment with corticosteroids.

关键词： Gastric adenocarcinoma Gastrointestinal stromal tumor Paraneoplastic presentation Polymyalgia rheumatica Corticosteroids

高等神经网络模型生物神经元中的非线性动力学和随机特性

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国外科技新书评介 2016年第2期 16-17页

作者： gerasimos G.rigatos 吴永礼不详中国科学院力学研究所

本书为表现出非线性随机动力学特点的神经结构提供一个完整的研究概况，引入高等的神经网络模型来阐述神经动力学；并概述利用电路进行神经动力学的模拟方面的主要发现，以及运用动力系统的理论考察它们的稳定性。

关键词：神经网络模型非线性动力学随机特性生物神经元神经动力学力学特点动力系统稳定性