Related papers: Singularity-Free Inverse Dynamics for Underactuate…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
Control systems of interest are often invariant under Lie groups of transformations. For such control systems, a geometric framework based on Lie symmetry is formulated, and from this a sufficient condition for dynamic feedback…
The motion of a rolling ball actuated by internal point masses that move inside the ball's frame of reference is considered. The equations of motion are derived by applying Euler-Poincar\'e's symmetry reduction method in concert with…
This work is devoted to a systematic exposition of the dynamics of a rigid body, considered as a system with kinematic constraints. Having accepted the variational problem in accordance with this, we no longer need any additional postulates…
We develop a functional-analytical machinery for studying the quadratic regulator problem arising from spectra perturbations of infinite-dimensional dynamical systems. In particular, we are interested in applications to inertial manifolds…
We apply methods of the so-called `inverse problem of the calculus of variations' to the stabilization of an equilibrium of a class of two-dimensional controlled mechanical systems. The class is general enough to include, among others, the…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…
Various physical systems relax mechanical frustration through configurational rearrangements. We examine such rearrangements via Hamiltonian dynamics of simple internally-stressed harmonic 4-mass systems. We demonstrate theoretically and…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
It is well-understood that the robustness of mechanical and robotic control systems depends critically on minimizing sensitivity to arbitrary application-specific details whenever possible. For example, if a system is defined and performs…
Current theories of massless free particle assume {\sl unitary} space inversion and {\sl anti-unitary} time reversal operators. In so doing robust classes of possible theories are discarded. In the present work theories of massless systems…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…