Papers by Anastasios Zagorianos
A Genetic Algorithm enhanced with Fuzzy-Logic for multi-objective Unmanned Aircraft Vehicle path planning missions*
2022 International Conference on Unmanned Aircraft Systems (ICUAS)
UAV path planning for offshore swarm-based missions∗
2022 International Conference on Unmanned Aircraft Systems (ICUAS)
ACTA I and ACTA II are two user friendly tools for teaching Automatic Control Systems, based on M... more ACTA I and ACTA II are two user friendly tools for teaching Automatic Control Systems, based on Matlab. ACTA tools greatly facilitate the design of Electronic Flight Control Systems. In this paper the ACTA tools and their functions are initially introduced; then a case study demonstrating how a typical modern aircraft control system may be analyzed and redesigned using the ACTA tools is presented. The paper concludes by summarizing the ACTA tools advantages, as well as, our future plans. The ACTA tools are available for free downloading through our wiki. Key-Words: Control systems, aircraft control, Electronic Flight Control systems, EFCS, ACTA tools, GUI, ACTA tools tutorial, Bloom’s taxonomy.
The purpose of this paper is to compare from various aspects two widely used numerical computatio... more The purpose of this paper is to compare from various aspects two widely used numerical computation applications, namely Matlab and Octave, based on execution time performance tests. These tests implement three science and engineering applications which are carefully written to run on both Matlab and Octave. Based on our benchmark results as well as other factors for assessing software, we conclude that Octave is a noteworthy software for scientific and engineering applications and a free alternative to Matlab, adequate for most cases.
This paper presents the development and use of two user friendly GUI tools for teaching Automatic... more This paper presents the development and use of two user friendly GUI tools for teaching Automatic Control Systems, based on Matlab. Initially we review the ACTA II tool developed last year and report student acceptance, which was very encouraging. Next we present a complementary tool called ACTA I. ACTA tools greatly facilitate the design of Aircraft Control Systems. Finally we present conclusions and our future plans.
This paper presents the development and use of a user friendly GUI tool for teaching Automatic Co... more This paper presents the development and use of a user friendly GUI tool for teaching Automatic Control Systems, based on Matlab. The ACTA-II tool -as we have called it- is going to be used in automatic control systems course, offered to the students of the Hellenic Air Force Academy of Greece. ACTA-II tool facilitates the design of Automatic Control Systems. In order to demonstrate its functionality we present the solution of a typical control system of an aircraft, step by step.
… on Computers: part of the 14th …, 2010
The purpose of this paper is to compare from various aspects two widely used numerical computatio... more The purpose of this paper is to compare from various aspects two widely used numerical computation applications, namely Matlab and Octave, based on execution time performance tests. These tests implement three science and engineering applications which are carefully written to run on both Matlab and Octave. Based on our benchmark results as well as other factors for assessing software, we conclude that Octave is a noteworthy software for scientific and engineering applications and a free alternative to Matlab, adequate for most cases.
The purpose of this paper is to compare from various aspects two widely used numerical computatio... more The purpose of this paper is to compare from various aspects two widely used numerical computation applications, namely Matlab and Octave, based on execution time performance tests. These tests implement three science and engineering applications which are carefully written to run on both Matlab and Octave. Based on our benchmark results as well as other factors for assessing software, we conclude that Octave is a noteworthy software for scientific and engineering applications and a free alternative to Matlab, adequate for most cases.
Inverse Kinematics of a Class of Industrial Robots
An Iterative Technique for Velocity Control of Redundant Robotic Manipulators
A Dynamic Approach to the Velocity Control of Redundant Robots
Velocity control of redundant robots using a global optimization approach
Systems Analysis Modelling Simulation
2011 UkSim 13th International Conference on Computer Modelling and Simulation, 2011
This paper is concerned with the design of linear set-point controllers for a specific nonlinear ... more This paper is concerned with the design of linear set-point controllers for a specific nonlinear system: a motor driven pendulum. It is shown that when input constraints and delays are present, the synthesis procedure is non trivial. Even if the design is based on mature theoretical basis, extensive nonlinear simulations are the only practical way to ensure that the linear design offers acceptable tracking performance in a large operation range while respecting the requirements of input constraints and robustness.
Resolved motion model based predictive control of redundant robots
Mathematics and Computers in Simulation, 1994
ABSTRACT
On line discrete-time control of industrial robots
Robotics and Autonomous Systems, 1995
A recent discrete-time robotic model is employed and linearized to develop three different LQ-typ... more A recent discrete-time robotic model is employed and linearized to develop three different LQ-type robot controllers. These controllers are: optimal time-varying linear-quadratic controller (OTVLQ), OTVLQ controller with steady-state error elimination, and one-step ahead optimal LQ controller. These controllers require moderate computational effort and are offered for microprocessor-based implementation. Experimental results on a KUKA IR 160/15 robotic model verified the success and efficiency of the controllers.
A solution to the velocity control of redundant robots
Mathematics and Computers in Simulation, 1996
ABSTRACT
Some results on the autonomous trajectory generation and adaptive control of industrial robots
Journal of the Franklin Institute, 1992
ABSTRACT
Robot model reference adaptive control through lower/upper part dynamic decoupling
Journal of Intelligent & Robotic Systems, 1988
A method for controlling a 6-degrees-of-freedom robotic manipulator based on a decomposition of i... more A method for controlling a 6-degrees-of-freedom robotic manipulator based on a decomposition of its full dynamical model in two 3-degrees-of-freedom submodels (one for the lower part and one for the upper part) is presented. The lower-part (arm) submodel takes into account the effect of the upper part (wrist) and of the robot task requirements, in the form of an external
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Papers by Anastasios Zagorianos