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Applied Nonlinear Control
Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive…
Controllability of complex networks
Analytical tools are developed to study the controllability of an arbitrary complex directed network, identifying the set of driver nodes with time-dependent control that can guide the system’s entire dynamics.
Gaussian Networks for Direct Adaptive Control
A direct adaptive tracking control architecture is proposed and evaluated for a class of continuous-time nonlinear dynamic systems for which an explicit linear parameterization of the uncertainty in…
Stable Adaptive Teleoperation
This paper is a preliminary study of what role recent results in adaptive robot control and the understanding of time-delays may play in the development of effective telerobotics systems, which would best exploit the presence of the human operator while making full use of available robot control technology and computing power.
On the Adaptive Control of Robot Manipulators
A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being…
Sliding controller design for non-linear systems
- J. Slotine
- 1 August 1984
Abstract New results are presented on the sliding control methodology introduced by Slotine and Sastry (1983) to achieve accurate tracking for a class of non-linear time-varying multivariate systems…
On partial contraction analysis for coupled nonlinear oscillators
For oscillators with positive definite diffusion coupling, it can be shown that synchronization always occurs globally for strong enough coupling strengths, and an explicit upper bound on the corresponding threshold can be computed through eigenvalue analysis.
Tracking control of non-linear systems using sliding surfaces with application to robot manipulators
A methodology is presented of feedback control to achieve accurate tracking for a class of nonlinear time-varying systems in the presence of disturbances and parameter variations. The methodology…
Telemanipulation with Time Delays
This design methodology aims to create a virtual tool which accounts for the implicit limitations imposed by the delay, and uses wave variables for the analysis and implementation, and builds a system with consistent and predictable behavior.