This article introduces a new approach to locomotion control in six-legged robots. The approach is inspired by the model of decentralized locomotion control in the stick insect introduced by one of the authors and makes use of second-order nonlinear systems to realize the neuron-like dynamics of the sub-units of the whole control system. Each of these sub-units controls the behavior of a leg an...

In this note we consider the question of whether an adaptive controller can converge to a non-adaptive stabilizing controller. Speciically, we show for a class of back-stepping controllers with adaptive tuning functions that the set of initial conditions in state and estimation parameter for which the estimation parameter converges to a parameter which produces a destabilizing controller can ha...

We focus in this article on the analysis of an acceleration law for a following autonomous vehicle with constant time headway goal. We rst deene a function that measures the positioning of the following vehicle compared to the leading vehicle, w.r.t. the desired time headway. We study the convergence and limit of this positioning function, and prove the asymptotic stability of our acceleration ...

An initial-rectification adaptive iterative learning control scheme is proposed to solve the angle tracking problem of robot manipulators with input deadzone under nonzero initial errors. Lyapunov approach utilized design controller. First, auxiliary reference signal constructed overcome obstacle caused by errors during ILC design. Second, strategy and robust are adopted for dealing nonlinearit...

 In almost all cases, the goal of the design of automatic control systems is to obtain the parameters of the controllers, which are described by differential equations. Takagi-Sugeno (T-S) fuzzy models can perfectly represent the nonlinear system. In general, the controller is artificially built and it is possible to update its initial conditions. In the design of optimal quadratic regulators,...

Air Traffic Management (ATM) of the future allows for the possibility of free flight, in which aircraft choose their own optimal routes, altitudes, and velocities. The safe resolution of trajectory conflicts between aircraft is necessary to the success of such a distributed control system. In this paper, we present a method to synthesize provably safe conflict resolution maneuvers. The method m...

This work focuses on output feedback control of a class of multi-input multi-output nonlinear systems with timevarying uncertain variables and input constraints. A robust dynamic output feedback controller is constructed through combination of a stabilizing bounded robust multivariable state feedback controller with high-gain observers and saturation filters. The state feedback component is des...

A new fuzzy bang–bang relay controller (FBBRC) is introduced in this paper. The new controller is inherently optimal due to its bang–bang property. The controller has fuzzy decision-making capability in its inputs and have two fixed levels bang–bang output. Consequently, the tuning of FBBRC is restricted to input parameters only in comparison to standard fuzzy logic controller (FLC) where the o...