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—A new approach based on interval analysis is developed to find the global minimum-jerk (MJ) trajectory of a robot manipulator within a joint space scheme using cubic splines. MJ trajectories are desirable for their similarity to human joint movements and for their amenability to path tracking and to limit robot vibrations. This makes them attractive… (More)

—In this paper, a novel methodology, based on fuzzy logic, for the tuning of proportional-integral-derivative (PID) controllers is presented. A fuzzy inference system is adopted to determine the value of the weight that multiplies the set-point for the proportional action, based on the current output error and its time derivative. In this way, both the… (More)

This paper presents a novel system inversion approach to the set-point regulation of linear scalar minimum-phase systems. This approach uses closed-form expressions of cause/e!ect pairs that make possible an arbitrarily smooth transition between two given output set-points. The cause/e!ect pairs are based on the introduced concept of`transitiona… (More)

—In this note, 1 we propose an optimal inversion-based control for the set-point constrained regulation of nonminimum-phase uncertain scalar systems. This approach is based on a new control architecture where the main purpose of the feedback is to reduce the sensitivity to para-metric plant uncertainties permitting in such a way the effective use of a… (More)