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Abstract

We propose a class of m-crane control systems, that generalizes two- and three-dimensional crane systems. We prove that each representant of the described class is feedback equivalent to the second order chained form with drift. In consequence, we prove that it is differentially flat. Then we investigate its control properties and derive a control law for tracking control problem.
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Abstract

The growing number of mobile devices and the increasing popularity of multimedia services result in a new challenge of providing mobility in access networks. The paper describes experimental research on media (audio and video) streaming in a mobile IEEE 802.11 b/g/n environment realizing network-based mobility. It is an approach to mobility that requires little or no modification of the mobile terminal. Assessment of relevant parameters has been conducted in an IPv6 testbed. During the tests, both Quality of Service (QoS) and Quality of Experience (QoE) parameters have been considered. Against the background of standard L3 and L2 handovers, an emerging mobility solution named Proxy Mobile IPv6 (PMIPv6) has been examined. Its advantages (L3 connectivity maintenance) and disadvantages (packet loss during handover) are emphasized based on the obtained results. Moreover, a new solution for handover optimization has been proposed. A handoff influence upon audio/video generation and transfer imperfections has been studied and found to be an interesting direction of future work.
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