1 Overview This brief report summarizes our recent research eeorts on the underactuated vehicle control problem. I will describe the papers and books I reviewed this week and comment on a new literature search. I will also summarize the steps we have taken toward solving the control problem for the vehicle and our current plans for the next few weeks. You will notice that the main title of this...

Areas of Teaching Interest:  Analysis and Design of Control Systems  Discrete Time Control Systems  Intelligent Controls  Robust Nonlinear Controls Areas of Research Interest:  Robust and adaptive control of nonlinear systems  Homogeneous systems theory  Output feedback control  Observer design and fault detection  Intelligent control systems  Control of nonholonomic systems  Underac...

This letter presents the design, prototype and kinematic model of a new adaptive underactuated finger with an articulated skin/surface that is able to bend and, at same time, provides active rolling motion along its central axis while keeping configuration (see Fig. 1). The design based on planar chain overlapping spherical phalanxes are tendon-driven. has surface made external hollow universal...

This paper presents the control of an underactuated two-link robot called the Pendubot. We propose a controller for swinging the linkage and rise it to its uppermost unstable equilibrium position. The balancing control is based on an energy approach and the passivity properties of the system.

Explicit formulas of smooth time-varying state feedbacks, which make the origin of an underactuated surface vessel globally uniformly asymptotically stable, are proposed. The construction of the feedback extensively relies on the backstepping approach. The feedbacks constructed are time-periodic functions.