Now showing items 1-5 of 5
Nonlinear control of tendon driven robot manipulators: Elimination of actuator side position measurements
In this study, a partial state feedback controller is proposed for the link position tracking control problem of flexible tendon driven robotic systems. Specifically; a nonlinear model based controller is formulated for ...
Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach
This work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring ...
Design of an experimental twin-rotor multi-input multi-output system
Twin-rotor multi-input multi-output system (TRMS) is a popular experimental setup utilized mostly for development and evaluation of aerovehicle control algorithms. Motivated by its popularity, construction steps of a TRMS ...
Robust control design for positioning of an unactuated surface vessel
In this paper, a robust controller is designed to achieve accurate positioning of an unactuated surface vessel by using multiple unidirectional tugboats. After initially locating opposing tugboats to specific configurations, ...
Lyapunov-based output feedback learning control of robot manipulators
This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for ...