In this work, an output-feedback scheme for the global stabilization of the PVTOL aircraft with bounded inputs is developed taking into account the positive nature of the thrust. The global stabilization objective is proven to be achieved avoiding input saturation and by exclusively considering the system positions in the feedback. To cope with the lack of velocity measurements, the proposed al...

One of the challenges in control engineering education is to motivate students to invest the effort necessary to understand the theoretical foundations of feedback control. We have found that many students are inherently interested in robotics and are attracted to control engineering when they understand that it plays a central role in robotic systems. To capitalize on this appeal, we have esta...

Skid‐steered mobile robots have been widely used in exploring unknown environments and in military applications. In this paper, the tuning fuzzy Vector Field Orientation (FVFO) feedback control method is proposed for a four track wheel skid‐steered mobile robot (4‐TW SSMR) using flexible fuzzy logic control (FLC). The extended Kalman filter is utilized to e...

In this paper, we consider the problem of task-space tracking control of redundant robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we Þrst develop model-based and adaptive full-state feedback controllers. W...

In this paper a novel Laguerre based controller is proposed to control the velocity of an electro hydraulic servo system (EHSS). The proposed Laguerre based controller is a kind of IIR structure which has the benefits of both FIR and IIR structures and can solve their limitations in stability and compelexity. The controller can control the velocity of EHSS appropriately and consumes small compu...

Adaptive control of robot manipulators has been an active research topic in the last 15 years. The main motivation of this has been the interest in adding a reliable degree of robustness to the closed–loop system, specially in manufacturing system, where the manipulator frequently achieves pick and place tasks of materials and parts, whereby adaptation of the payload changes helps to guarantee ...

A stochastic optimal control based model with velocity tracking and internal feedback for saccadic eye movements is presented in this paper. Recent evidence from neurophysiological studies of superior colliculus suggests the presence a dynamic input to saccade generation system that encodes velocity, rather than just amplitude direction. The new makes it imperative test if can use desired which...

Rapid movements to a target are ballistic; they usually do not last long enough for visual feedback about errors to influence them. Yet, the brain is not simply precomputing movement trajectory. Classical models of movement control involve a feedback loop that subtracts 'where we are now' from 'where we want to be'. That difference is an internal motor error. The feedback loop reduces this erro...