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In this paper, nonlinear dynamic equations of a wheeled mobile robot are described in the state-space form where the parameters are part of the state (angular velocities of the wheels). This representation, known as quasi-linear parameter varying, is useful for control designs based on nonlinear ∞ approaches. Two nonlinear ∞ controllers that guarantee induced 2-norm, between input (disturbances) and output signals, bounded by an attenuation level γ, are used to control a wheeled mobile robot. These controllers are solved via linear matrix inequalities and algebraic Riccati equation. Experimental results are presented, with a comparative study among these robust control strategies and the standard computed torque, plus proportional-derivative, controller.
We analyze the evolution of 7Li/H using the basic model for the galactic chemical evolution (GCE) described by Brown (1992) and a numerical procedure which allows to estimate the contribution of the red giants to the enrichment of lithium in the interstellar medium (ISM).
The 7Li enrichment - mass loss scenario has been constructed using the strong connection found between solar metallicity Li-rich giants and IRAS sources. We show here that the Li-rich metal poor first-ascent red giants are not IRAS sources, although they are loosing Li enriched matter in form of gas.
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