Two important practical aspects of robot manipulators control are the difficulty of obtaining accurate velocity measurements and the uncertainty of parameters of the dynamical model. To deal with these problems, several adaptive output feedback tracking controllers have been proposed. In this paper, it is proved that, as long as the regression matrix is persistenly exciting, uniform global asym...

In this paper we address the problem of generating asymptotically stable limit cycles for a fully actuated multibody mechanical system through a feedback control law. Using the concept of conditional stability the limit cycle can be designed for a lower dimensional dynamical system describing how the original one evolves on a chosen submanifold and the corresponding velocity space. Moreover, th...

Analysis on Response of Magnetic Bearing System to External Forces Comparison between Optimal Regulator System and Independently Controlled System Takeshi MIZUNO, Toshiro HIGUCHI and Noboru AIKAWA One of the significant problems in designing a magnetic bearing control system is that there are gyroscopic couplings between two rotational motions of the suspended rotor. Because of these couplings ...

This paper describes a dynamic controller for rotorcraft landing and hovering in ground effect using feedback control based on flowfield estimation. The rotor downwash in ground effect is represented using a ring-source potential flow model selected for real-time use. Experimental verification of the flow model is also presented. A nonlinear dynamic model of the rotorcraft in ground effect is p...

Abstract— In this paper, H∞ Modified Positive Position Feedback (HMPPF) and H∞ Modified Positive Velocity Feedback (HMPVF) controllers are developed as two novel controllers for active vibration suppression in flexible structures. The controllers use the concept of positive feedback and are enhanced by the powerful optimization ability of the H∞ to provide effective vibration suppression. After...

Injection velocity is a key variable in injection molding process. The dynamics of injection velocity is largely affected by the control valves used in the hydraulic system. Previously, it has been controlled precisely using advanced control algorithms based on servo-valves. However, this increased significantly the capital and maintenance costs. In this paper, the injection velocity was contro...

This paper deals with the boundary feedback control of a bar undergoing axial vibrations. The feedback force is applied to one end of the bar and it is proportional to its velocity. The problem is of fundamental interest in control theory, structural dynamics, and the development of quiet boundaries in fields like earthquake engineering and computational mechanics. The system is not self-adjoin...

We present an approach for constructing optimal feedback control laws for optimal regulation of a rotating rigid spacecraft. We employ the inverse optimal control approach which circumvents the task of solving a Hamilton-Jacobi equation and results in a controller optimal with respect to a meaningful cost functional. The design reported in the paper is the rst optimal control design for attitud...

This paper investigates robust motion pilot control of a coaxial two-wheeled electric vehicle (CTWEV) where the feedback control system is solely based on the angle of inclination without using any velocity information. H∞ control is employed to design a robust stabilizing controller. The proposed scheme involves an electronic differential steering algorithm to pilot the CTWEV via a joystick. F...

This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions—the needle variations of optimal control—as the basis for choosing each control response to the current state. A second result of the paper is that the method provably exploits the nonlinear controllability of a system by virtue of an explicit dependence of the second-order need...