Now showing items 1-4 of 4
Robust adaptive control of nonlinear systems with unknown state delay
In this work, we propose a new robust adaptive controller for a class of multi-input multi-output nonlinear systems subject to uncertain state delay. The proposed method is proven to yield semi-global asymptotic tracking ...
Teleoperation with kinematically redundant robot manipulators with sub-task objectives
In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user ...
Observer based output feedback tracking control of dynamically positioned surface vessels
This work concentrates on tracking control of dynamically positioned surface vessels where only position and orientation measurements are available. Specifically, in order to remove the velocity measurement dependency of ...
Set-point navigation of a redundant robot in uncertain environments using finite range sensors
In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic ...