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"This book contains a unique description of the nonholonomic motion of systems of rigid bodies by differential algebraic systems. Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint focuses on rigid body systems subjected to kinematic constraints (constraints that depend on the velocities of the bodies, e.g., as they arise for nonholonomic motions) and discusses in detail how the equations of motion are developed. The authors show that such motions can be modeled in terms of differential algebraic equations (DAEs), provided only that the correct variables are introduced. Several issues are investigated in depth to provide a sound and complete justification of the DAE model. These issues include the development of a generalized Gauss principle of least constraint, a study of the effect of the failure of an important full-rank condition, and a precise characterization of the state spaces. In particular, when the mentioned full-rank condition is not satisfied, this book shows how a new set of equivalent constraints can be constructed in a completely intrinsic way, where, in general, these new constraints comply with the full-rank requirement. Several equivalent DAE formulations are discussed and analyzed thoroughly. The value of these DAE models rests upon the premise that they are more accessible than others to an effective numerical treatment. To substantiate this, a numerical algorithm is presented and numerical results for several standard problems are included to demonstrate the efficiency of this approach."

"Penelitian ini membahas permasalahan formasi sistem multi-agent menggunakan pengendali prediktif terdistribusi. Model yang digunakan adalah nonholonomic mobile robot. Setiap agen dapat memecahkan sendiri permasalahan optimasi dan mengimplementasikannya setiap cuplikan waktu. Ada dua permasalahan formasi yang dibahas, yaitu formation tracking control dan formation stabilization. Pada permasalahan formation tracking control, setiap agen harus mengikuti referensi trajektori yang telah dibuat dan mempertahankan jarak dengan agen tetangganya. Sedangkan pada permasalahn formation stabilization, setiap agen, dari posisi yang acak, membentuk suatu formasi yang telah ditentukan di posisi yang telah ditentukan juga. Hasil simulasi ditampilkan untuk menggambarkan efektivitas dari pengendali prediktif terdistribusi yang telah didesain. Diperoleh hasil dengan waktu konvergensi yang sangat cepat dibanding jika dengan pengendali lain.

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This study is concerned with the problem of formation using distributed model predictive control. The model that is used is nonholonomic mobile robot. All the agents are permitted to solve optimization problem by itself and implement them at each time step. There are two formation problem that will be discussed, i.e. formation tracking control problem and formation stabilization problem. On the formation tracking control problem, each agent is required to follow a reference trajectory that has been generated and maintain distance between agents. On the formation stabilization problem, each agent, with random initial condition, is required to form a formation at a specific position that has been determined. A numerical simulation is given to illustrate the effectivenes of the distributed model predictive control. The convergence rate of the result is much faster compared to other control law."

"Penelitian ini membahas masalah konsensus pada sistem multi-agent dengan model setiap agen adalah nonholonomic mobile robot dengan pengendali finite-time yang terdistribusi pada setiap agen. Setiap agen harus mengikuti kecepatan referensi yang telah dibuat dan state setiap agen harus mencapai konsensus dalam waktu yang terbatas. Masalah lain yang dibahas adalah keberadaannya disturbance atau gangguan dari luar sistem. Pengendali finite-time digunakan untuk memecahkan kedua masalah ini karena pengendali finite-time dapat memberikan waktu konsensus pada waktu yang terbatas dan dapat mengatasi keberadaan gangguan dari luar sistem. Pengendali finite-time juga dapat dilinierisasi dengan mengubah parameter pengendalinya. Selain masalah pengendali konsensus, penelitian mengenai perbandingan sistem dengan multi-agent dan sistem tanpa multi-agent juga dilakukan. Berdasarkan simulasi yang dilakukan, terlihat bahwa sistem dapat mencapai konsensus dalam waktu yang terbatas. Saat sistem diberi disturbance, terlihat juga bahwa sistem tetap dapat mencapai konsensus dalam waktu terbatas. Sistem multi-agent juga memberikan waktu konsensus yang lebih cepat dibandingkan dengan sistem tanpa multi-agent.

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In this study, we discuss the consensus problem of nonholonomic mobil robot multi-agent systems with distributed finite-time control for each agent. All the agents have to follow the reference velocity and reach a consensus in a finite-time. The other problem discussed in this study is the presence of disturbance. Finite-time controller is used to solve the above problem because of its reliability. Linearized finite-time control is also shown by changing the control parameters.

One last problem discussed is the comparison between system with multi-agent and system without multi-agent. Based on simulation results, it is shown that multi-agent system can reach consensus in a finite time. In the presence of disturbance, it is shown that the systems still can reach consensus in a finite time. System with multi-agent also reach consensus faster than system without multi-agent."

"Buku yang berjudul "Mechanical design and systems handbook" ini merupakan sebuah buku panduan mengenai desain mekanik. "

"This extensively updated text and reference illuminates the modern realities of planning and constructing buildings with efficient, sustainable mechanical and electrical systems. Throughout, the authors place mechanical and electrical systems design in the overall context of the built environment. They extensively address engineers' teamwork with architects, owners, and facility..."