Aiming at the multiple robots formation control problem, this paper presents a solution for the paralyzed deadlock and decision conflict in the formation system. It introduces the randomized-generating function and variable repulsive force feedback control algorithm, combines the leader-follower and the artificial potential field approach and defines the distance, velocity vector and the virtua...

We study the exponential stabilization of the linearized Navier-Stokes equations around an unstable stationary solution, by means of a feedback boundary control, in dimension 2 or 3. The feedback law is determined by solving a Linear-Quadratic control problem. We do not assume that the normal component of the control is equal to zero. In that case the state equation, satisfied by the velocity f...

One important difference between industrial robotic manipulators and service robot applications is the human interaction, which introduce safety and comfort constraints. In this paper, we define soft motions conditions to facilitate this cohabitation. We propose an on-line trajectory planner that generates the necessary references to produce soft motion and a control loop that guarantees the en...

We study the exponential stabilization of the linearized Navier-Stokes equations around an unstable stationary solution, by means of a feedback boundary control, in dimension 2 or 3. The feedback law is determined by solving a Linear-Quadratic control problem. We do not assume that the normal component of the control is equal to zero. In that case the state equation, satisfied by the velocity f...

High-performance AC and DC industrial servodrives use standardized motion control algorithms. The algorithms are based on common feedback sensing methods (digital position measurement via encoders or resolvers) and a common assumption that the electromagnetic torque dynamics are substantially faster than the motion control dynamics desired. The vast majority of these motion control algorithms c...

A leader–follower synchronization output feedback control scheme is presented for the ship replenishment problem where only positions are measured. No mathematical model of the leader ship is required, and the control scheme relies on nonlinear observers to estimate velocity and acceleration of all ships to realize the feedback control law. The scheme yields semi-global uniform ultimate bounded...

OBJECTIVE When using an intracortical BCI (iBCI), users modulate their neural population activity to move an effector towards a target, stop accurately, and correct for movement errors. We call the rules that govern this modulation a 'feedback control policy'. A better understanding of these policies may inform the design of higher-performing neural decoders. APPROACH We studied how three par...

Subjects smoothly pursued a target moving horizontally at 15 deg/s. After pursuit for 1 s, the target jumped 3 deg ahead of the fovea. At the moment of the jump, target velocity became 0 and 'effective visual feedback' assumed a value of either 0 (target retinally stabilized), -0.2, -0.4, or -1.0 (target fixed in space). With 0 visual feedback the eye continued to move smoothly at a moderate ve...