Hamilton-Jacobi-Bellman theory is shown to provide a unified framework for nonlinear feedback control laws for special classes of nonlinear systems. These classes include Jurdjevic-Quinn type systems, as well as minimum phase systems with relative degree {1, 1 . . . . . 1}. Several examples are given to illustrate these results. For the controlled Lorenz equation, results obtained by Vincent an...

In this paper, a biologically inspired motion detector (Reichardt-Model) is introduced into visual servo control to ensure stability of the system with high gain and timedelay in its feedback. As a consequence of the specific velocity dependence of the Reichardt-Model, the stability margin of the visual servo control is increased and high overall gains, thus, better performance are achievable. ...

| This paper discusses some important control design issues for robot visual servoing, in particular high-performance tracking. The limitations of pure visual feedback control are discussed, and an approach based on axis velocity control and estimated target velocity feedforward is proposed. Experimental results are obtained with a 50Hz low-latency vision system and an end-eeector mounted camer...

It is well known that the linear feedback of the quar-ternion of the attitude error and angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be replaced by a nonlinear lter of the quaternion, thus removing the need of direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent ...

This paper presents a solution to the boundary stabilization of a symmetric composite laminated plate in free transverse vibration. The symmetric composite laminated plate dynamics is presented by a linear fourth order partial differential equation (PDE). A linear control law is constructed to stabilize the plate. The control force consists of feedback of the velocity at the boundary of the pla...

The main contribution of this paper is the derivation of a model independent feedback control law that causes a rigid body to execute a near eigenaxis maneuver. The degree of approximation is a function of the control gains and the initial attitude error. Using passivity techniques, the dependence of the control strategy on velocity information is eliminated. The technique used to derive the co...