This letter investigates the stability properties of soft inverted pendulum with affine curvature - a template model for nonlinear control underactuated robots. We look at how changes in physical parameters affect and equilibrium. give conditions under which zero dynamics corresponding to collocated choice output is (locally or globally) stable unstable. leverage these results design switching ...

Successful execution of many robotic tasks requires precise control of robot motion and its interaction with the environment. In robotics these two problems are mainly studied separately in the domain of robot motion generation and interaction control, respectively. Existing approaches rely on two control loops: a motion generator (planner) that provides a reference trajectory in the outer loop...

This paper derives a hybrid control law for an extended nonholonomic double integrator (ENDI) that captures the dynamics of a wheeled robot subject to force and torque inputs. A simple logic-based hybrid controller is proposed which yields global stability and convergence of the closed-loop system to an arbitrarily small neighborhood of the origin. This is achieved by mapping the state-space in...

The operation of chemical processes often requires respecting constraints on manipulated inputs and process states. Input constraints typically reflect limits on the capacity of control actuators, such as valves or pumps, whereas state constraints represent desirable ranges of operation for process variables, such as temperatures or concentrations. Constraints, however, limit the set of initial...

Generally, in most dexterous manipulation tasks the manipulator undergoes a transition from free motion to contact con guration with its environment. An example can be the exploratory unconstrained motions of the force guided manipulator for establishing contact with an environment. This transition usually involves the impact stage. The impact usually results in an unstable performance of the c...

Generally, in most dexterous manipulation tasks the manipulator undergoes a transition from free motion to contact connguration with its environment. An example can be the exploratory unconstrained motions of the force guided manipulator for establishing contact with an environment. This transition usually involves the impact stage. The impact usually results in an unstable performance of the c...

This paper addresses closed-loop stability analysis of PID controlled local model networks. The proposed method allows to investigate exponential or asymptotic stability of the closed-loop system. For this purpose a common quadratic Lyapunov function is used as stability criterion. Due to the fact that the Lyapunov approach requires a state-space model a suitable closed-loop state-space system ...

– The deÞning characteristic of a networked control system (NCS) is having a feedback loop that passes through a local area computer network. Our two-step design approach includes using standard control methodologies and choosing the network protocol and bandwidth in order to ensure important closed-loop properties are preserved when a computer network is inserted into the feedback loop. For su...

In this paper, a simple structure design with arbitrary motion/force scaling to control teleoperation systems, with model mismatches is presented. The goal of this paper is to achieve transparency in presence of uncertainties. The master–slave systems are approximated by linear dynamic models with perturbed parameters, which is called the model mismatch. Moreover, the time delay in communicatio...