Most manipulator motion controllers require joint velocity feedback. Whenever joint velocities are not measurable, they are estimated from the joint positions. However, velocity estimates tend to be inaccurate under low-speed motion or low sensor resolution conditions. Moreover, velocity estimators may either be susceptible to model uncertainties or introduce additional dynamics (e.g., phase la...

Being widely used in industrial systems and manufacturing lines, precision position control systems need to use high feedback control gains to reject disturbances. However, phase-lag in velocity estimation resulting from encoder measurement imposes a limitation on maximum allowable feedback gains, when system stability and control smoothness are concerned. In this paper, use of velocities deriv...

an enhanced displacement feedback structural control procedure is presented for performance-based design in this paper. at first, a comparative study is implemented assessing three most common active control algorithms including state, acceleration, and displacement feedback controls. the advantage of the displacement feedback algorithm for active control of structures against earthquakes is de...

introduction: laser tissue soldering using albumin and indocyanine green dye (icg) is an effective technique utilized in various surgical procedures. the purpose of this study was to perform laser soldering of rat skin under a feedback control system and compare the results with those obtained using standard sutures. material and methods: skin incisions were made over eight rats’ dorsa, which w...

A key challenge in robotic bipedal locomotion is the design of feedback controllers that function well in the presence of uncertainty, in both the robot and its environment. This paper addresses the design of feedback controllers and periodic gaits that function well in the presence of modest terrain variation, without over reliance on perception and a priori knowledge of the environment. Model...

This note deals with consensus strategy design for double-integrator dynamics. Specifically, we consider the case where the control inputs are required to be a priori bounded and the velocity (second state) is not available for feedback. Two different design methods are proposed. First, based on the auxiliary system approach, we propose a consensus algorithm that extends some of the existing re...

In this paper, we address the problem of designing a control law based on sensor measurements that provides global asymptotic stabilization to a reference trajectory defined on the SE(3)× R. The proposed control law is a function of the angular velocity, of vector measurements characterizing the position of some given landmarks and of their rate of change. We provide sufficient conditions for t...

In this paper we develop the principles of time-delayed control design for the active control of structures in which the presence of large time delays in the control loop may make it difficult for their effects to be easily eliminated and/or compensated. A control design strategy is proposed that is different from what has been generally accepted hereto; it calls for taking advantage of these l...