—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.
— In this paper we propose a Leader/Follower output feedback synchronization scheme for control of the attitude of two satellites when angular velocity measurements are not available. Nonlinear observers are used to estimate the angular velocities. The attitudes of the satellites are represented by unit quaternions, and the control design is based on… (More)
—In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally-exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an… (More)
This paper gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a general expression for different gait patterns. Two forms of locomotion have been simulated with the mathematical model, and experiments with… (More)