In this work it is presented the adopted solution in the electronic control lab of a university department to cover the existing gap, both in teaching and research, related to integrated tools for identification, design, simulation and execution of control solutions for underactuated nonlinear prototype systems. The proposed development system includes both hardware and software components whic...

An appropriate control scheme must be used to alleviate nonlinearities and uncertainties for the plant system. However, this is not a trivial task due to the fact that modeling the nonlinearities such as friction and stiction are always inaccurate. For this, adaptive and robust control approaches are preferable. Thus, this paper investigates a new suggested controller scheme namely Nominal Char...

In this paper we construct motion primitives as algorithm building blocks for stabilization and control of a class of underactuated systems that includes spacecraft, submersibles and planar vehicles. The underactuated systems are modelled as Lagrangian systems on Lie groups; thus, they are systems with drift and with accessibility distributions described by the operation of Lie bracket and symm...

In this paper, we propose a formation control algorithm for underactuated autonomous underwater vehicles (AUVs) with parametric uncertainties using the approach angle. The approach angle is used to solve the underactuated problem for AUVs, and the leader-follower strategy is used for the formation control. The proposed controller considers the nonzero off-diagonal terms of the mass matrix of th...

Underactuated manipulation is the process of controlling a large number of object degrees-of-freedom with fewer robot degrees-of-freedom. The challenge is to derive motion planners and feedback controllers to control underactuated manipulation. In this paper we study the use of real-time nonlinear optimization for motion planning and feedback control of planar batting manipulation with a one-jo...

In this paper, the feedback control of a nonholonomic 3D vehicle is considered; namely, the problem of steering an underactuated rigid body to a target position along a desired direction is addressed. A simple time-invariant strategy is determined on the basis of standard vector kinematics and a Lyapunov-like stability analysis. The resulting control law guarantees almost global exponential con...

Abstract: In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller design. A dynamic surface controller together with a nonlinear disturbance observer is desi...

This paper proposes H, an anthropomorphic prosthesis hand with 5 fingers and human hand size. It consists of the combination of direct actuated and underactuated system for a dexterous grip. The H also has modularized 2 DOF of MCP mechanism in a thumb for power grip. The adduction-abduction and antepositon-retroposition movements are generated by this structure of thumb which is the function of...

Analysis and control of underactuated mechanical systems in the nonzero velocity setting remains a challenging problem. In this paper, we demonstrate the utility of a recently developed alternative representation of the equations of motion for this large class of nonlinear control systems. The alternative representation gives rise to an intrinisic symmetric form. The generalized eigenvalues and...

In this paper, we address nonlinear control and reduction of high-order underactuated mechanical systems with kinetic symmetry and input coupling. In some aerospace vehicles, the effects of the control of the attitude dynamics appears in the translational dynamics. We present a general framework for decoupling of these effects. The decoupling is done by applying a change of coordinates in expli...