This paper develops an algorithm that can be used to solve the data association problem faced by a surveillance aircraft using Direction of Arrival angle measurements to locate a stationary RF signal source. The algorithm is based on statistical clustering of measurements with clusters being formed using a Mahalanobis distance association criterion. This approach accounts for angle measurement error statistics and avoids the computational complexity of an exhaustive combinatorial assignment. The optimal cluster is the one that maximized the target position log-likelihood function. This cluster is used to compute a target position estimate then removed from the set of measurements. The process is repeated until no additional clusters can be formed. Simulation results are shown where 100 measurements are distributed randomly across 7 target signal sources.
In this article, we compare some of the recent methods developed for simultaneous position and force control of a single n-link constrained robot manipulator. Mathematical models of the constrained manipulator are introduced and the advantages and disadvantages of the associated control formulations are discussed. The similarities between each of the proposed formulations are also highlighted. Finally, a transformation is presented that generalizes the methods of decoupling force from the position dynamics.
In this paper optimal control theory is applied to the trajectory tracking problem for a rigid robot manipulator. First a stability result is developed showing the relationship between optimal control theory and the global exponential stability of a class of second-order non-linear systems. Next this class of nonlinear systems is shown to contain the trajectory tracking error dynamics for a rigid robot manipulator when using a modified computed torque controller with an auxiliary input. Finally the stability result is applied to the tracking error dynamics to determine the auxiliary input to the robot controller. The result is a non-linear feedback control law which provides exponentially stable position and velocity tracking for a rigid robot manipulator without complete feedback linearization of the robot dynamics.
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