In this paper, we present a new continuous control mechanism that compensates for uncertainty in a class of high-order, multi-input/multi-output nonlinear systems. The control strategy is based on limited assumptions on the structure of the system nonlinearities. A new Lyapunov-based stability argument is employed to prove semi-global asymptotic tracking.
We explicitly construct global strict Lyapunov functions for rapidly time-varying nonlinear control systems. The Lyapunov functions we construct are expressed in terms of oftentimes more readily available Lyapunov functions for the limiting dynamics which we assume are uniformly globally asymptotically stable. This leads to new sufficient conditions for… (More)
Stable, distributed, real-time scheduling of flexible manufacturing/assembly/disassembly systems, " IEEE Trans. Hierarchical controls in sto-chastic manufacturing systems with convex costs, " J. Optim. , " Optimal feedback controls in deterministic dynamic two-machine flowshops, " Oper. Abstract—This paper presents a solution to the problem of global,… (More)
In this paper, we design an adaptive position/force controller for robot manipulators during constrained motion. The proposed controller can compensate for parametric uncertainty while only requiring measurements of link position and end-effector force. A filtering technique is utilized to produce a pseudo-velocity error signal and thus, eliminate the need… (More)