Krzysztof Kozłowski

This paper is focused on a distributed control of fully actuated manipulators under operating conditions when dynamic couplings between their joints are insignificant. The main research aspect was to examine the influence of the inertia parameter on the tracking quality for control systems based on the active rejection paradigm. The theoretical description and preliminary hypothesis were supported by extensive simulation and experimental results. In particular, it is demonstrated that choosing the inertia parameter according to the real dynamics properties does not guarantee the best performance of the considered control structures.

Network slicing is a technology that will soon influence the way in which new networking solutions will be designed and operated. The approach impacts the telco business ecosystem significantly. In this paper, we discuss two business models that are enabled by network slicing. One of them is applicable to a single infrastructure domain, whereas another concerns the involvement of multiple infrastructure and slice providers through the use of the brokering mechanism. We have also discussed the implementation of the business models. In that context, we have shown the shortcomings of the ETSI NFV MANO architecture in a multi-provider environment and proposed its modifications.

This paper is focused on motion control of a nonholonomic car-like robot. The main idea of the proposed control method is based on an approximate decoupling of phase-constrained kinematics in order to imitate an omnidirectional robot. In order to facilitate the feedback design, the original kinematics is simplified and represented by a nilpotent homogeneous locally equivalent control system. Next, the algorithm exploiting transverse functions is formulated. It guarantees locally stable tracking of any trajectory which can be generated by an external navigator. The theoretical description of the control method is complemented by results of numerical simulations conducted for specific motion scenarios.