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- Harry Berghuis, Henk Nijmeijer
- IEEE Trans. Robotics and Automation
- 1993

Passivity-based control methods for robots, which achieve the control objective by reshaping the robot system’s natural energy via state feedback, have, from a practical point of view, some very attractive properties. However, the poor quality of velocity measurements may significantly deteriorate the control performance of these methods. In this paper we… (More)

In this note we propose a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements. The controller consists of two parts: (1) a gravitation compensation, (2) a linear dynamic firstorder compensator. The gravitation compensation part can be chosen to be a function of either the actual joint… (More)

In this note we propose a robust tracking controller for robots that requires only position measurements. The controller consists of two parts: a linear observer part that generates an estimated error state from the error on the joint position and a linear feedback part that utilizes this estimated state. It is shown that this computationally efficient… (More)

This brief addresses the robust asymptotic and BIB0<lb>(bounded-input bounded-output) stability of a class of linear shift-<lb>variant multidimensional systems. Using a shift-invariant comparison<lb>system, necessary and sufficient conditions for the stability of the entire<lb>family of systems are derived.

- Harry Berghuis, Romeo Ortega, Henk Nijmeijer
- IEEE Trans. Robotics and Automation
- 1993

A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level.… (More)

- Harry Berghuis, Romeo Ortega, Henk Nijmeijer
- ICRA
- 1992

In the present paper we propose a globally convergent adaptive control scheme for robot motion control with the following features: First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Secondly, the controllex does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify… (More)

- H M Berghuis, S C Dieudonné, W Goei, J P Veldhuijzen
- European journal of orthodontics
- 1994

To study the effects of transforming growth factor beta 2 (TGF-beta 2) on bone resorption, cultures of 17-day-old foetal mouse metatarsal long bones were used. The long bone rudiments were cultured for 5 days in medium supplemented with 10% rat serum. The effects of TGF-beta 2 were studied at concentrations of 1, 4, and 10 ng/ml. At all concentrations… (More)

- Wilco Oelen, Harry Berghuis, Henk Nijmeijer, Carlos Canudas de Wit
- IEEE Robot. Automat. Mag.
- 1995

To establish empirical verification of a stabilizing controller for non-holonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system with linear and angular velocity inputs. Experiments in the… (More)

- Harry Berghuis, Herman Roebbers, Henk Nijmeijer
- Automatica
- 1995

Abstmrt--In the literature on adaptive robot control a large variety of parameter estimation methods have been proposed, ranging from tracking-error-driven gradient methods to combined trackingand prediction-error-driven least-squares type adaptation methods. This paper presents experimental data from a comparative study between these adaptation methods,… (More)

This paper presents a h y b r i d controller for the practical stabilization of general n-dimensional nonlinear systems in one-chained form. This controller consists of two parts: 1. A discrete-time pa.rt that practically stabilizes a subset of the system states, and 2. A piece-wise continuous-time part that steers the remaining state-components to a.n… (More)