3 Position control: Relative degree two case After introducing the funnel controller for relative-degree-two systems (see class S2), we will now apply it to industrial servo-systems for position control to achieve the reference tracking with prescribed transient accuracy for position and speed. At first reference tracking under load is examined. Even though error and error derivative remain wit...

Abstract − This paper presents an operational space output feedback controller for non-redundant robot manipulators to achieve trajectory tracking without velocity measurements. The overall system can achieve a semi-global exponential stability (SGES) result for the position, orientation and velocity tracking errors as well as velocity observation errors. Experimental results of the proposed co...

We introduce a bifocal imaging method that enables three-dimensional (3D) tracking of both fluorescent and nonfluorescent particles. We accomplish this by simultaneously imaging a focused plane, for in-plane position (x,y), and a defocused plane, for out-of-plane position (z), of a molecule using a single CCD camera. We applied our method to several systems including in vivo melanosome tracking...

Tracking bolus peak position is a crucial issue for computed tomography angiography(CTA). In this paper, a local maximum tracking method is proposed and tested using real patient data. The method uses a second order polynomial to approximate bolus density function locally. By estimating the local maximum density position at next sampling time, bolus peak trajectory is closely followed. Experime...

A new approach for human tracking under partial scene occlusion is proposed in this paper. Our method employs linear regression tracking and a camera model to find the most probable person position and height in the current frame. The system is stabilized by combining a priori knowledge, linear regression tracking, and the predicted position from a Kalman filter. Experimental results show that ...

We present an acoustic musical instrument played through a resonance model of another sound. The resonance model is controlled in real time as part of the composite instrument. Our implementation uses an electric violin, whose spatial position modifies filter parameters of the resonance model. Simplicial interpolation defines the mapping from spatial position to filter parameters. With some eff...

In this paper, we consider the tracking of mobile terminals based on the received signal strength (RSS) measured from several base stations. The spatial correlation of the random shadowing is exploited in order to improve the position tracking. We define an auto-regressive (AR) model of the temporal evolution of the shadowing. This model allows for performing a joint tracking of the position an...

This paper addresses the position tracking control problem of an underactuated hovercraft vehicle. A nonlinear Lyapunov-based tracking controller is developed and proved to exponentially stabilize the position tracking error to a neighborhood of the origin that can be made arbitrarily small. The desired trajectory does not need to be a specially chosen trajectory (e.g., a trimming trajectory). ...

This paper presents the design of a Fuzzy Logic Controller (FLC) whose parameters are optimized by using Genetic Algorithm (GA) and Bacteria Foraging Optimization (BFO) for tip position control of a single link flexible manipulator. The proposed FLC is designed by minimizing the fitness function, which is defined as a function of tip position error, through GA and BFO optimization algorithms ac...