Lipschitz regularity for weak solutions of parabolic p-Laplacian type equations in certain subriemannian structures

The main aim of the thesis is to prove the local Lipschitz regularity of the weak solutions to a class of parabolic PDEs modeled on the parabolic p-Laplacian. This result is well known in the Euclidean case and recently has been extended in the Heisenberg group, while higher regularity results are not known in subriemannian parabolic setting. In this thesis we will consider vector fields more general than those in the Heisenberg setting, introducing some technical difficulties. To obtain our main result we will use a Moser-like iteration. Due to the non linearity of the equation, we replace the usual parabolic cylinders with new ones, whose dimension also depends on the L^p norm of the solution. In addition, we deeply simplify the iterative procedure, using the standard Sobolev inequality, instead of the parabolic one.

Feedback control of underactuated cable-driven parallel robots

In this work an Underactuated Cable-Driven Parallel Robot (UACDPR) that operates in the three dimensional Euclidean space is considered. The End-Effector has 6 degrees of freedom and is actuated by 4 cables, therefore from a mechanical point of view the robot is defined underconstrained. However, considering only three controlled pose variables, the degree of redundancy for the control theory can be considered one. The aim of this thesis is to design a feedback controller for a point-to-point motion that satisfies the transient requirements, and is capable of reducing oscillations that derive from the reduced number of constraints. A force control is chosen for the positioning of the End-Effector, and error with respect to the reference is computed through data measure of several sensors (load cells, encoders and inclinometers) such as cable lengths, tension and orientation of the platform. In order to express the relation between pose and cable tension, the inverse model is derived from the kinematic and dynamic model of the parallel robot. The intrinsic non-linear nature of UACDPRs systems introduces an additional level of complexity in the development of the controller, as a result the control law is composed by a partial feedback linearization, and damping injection to reduce orientation instability. The fourth cable allows to satisfy a further tension distribution constraint, ensuring positive tension during all the instants of motion. Then simulations with different initial conditions are presented in order to optimize control parameters, and lastly an experimental validation of the model is carried out, the results are analysed and limits of the presented approach are defined.