The development of legged robots for complex environments requires controllers that guarantee both high tracking performance and compliance with the environment. More specifically the control of the contact interaction with the environment is of crucial importance to ensure stable, robust and safe motions. In this contribution we develop an inverse-dynamics controller for floating-base robots u...

This article presents an overview of bipedal walking models by grouping them into two categories: models with concentrated mass and models with distributed mass. As an example of the models with concentrated mass, a mass-spring inverted pendulum model is presented, accompanied by an analysis. As an example of a more complex distributed mass model, a 10-dof walking robot model is developed and a...

Ferroelectric and ferromagnetic actuators are being considered for a range of industrial, aerospace, aeronautic and biomedical applications due to their unique transduction capabilities. However, they also exhibit hysteretic and nonlinear behavior that must be accommodated in models and control designs. If uncompensated, these effects can yield reduced system performance and, in the worst case,...

Novel concept of feedback linearization is introduced for smooth asymptotic stabilization of underactuated spacecraft equipped with one and two degrees of actuation. The concept is based on generalized inversion, and is aimed at asymptotically realizing a perturbation from the unrealizable feedback linearizing transformation. A desired stable second-order linear dynamics in a norm measure of th...

Nonlinear inverse dynamic models can be utilized in various parts of advanced model-based control system design: reference trajectory optimization, feedforward control and feedback linearization [35]. In this paper, a new synthesis approach for nonlinear inverse dynamic models of satellites with flexible structures is presented. For satellite configurations with unstable zero dynamics, a stable...

In the field of automatic control system design, adaptive inverse is a powerful control technique. It identifies the system model and controls automatically without having prior knowledge about the dynamics of plant. In this paper neural network based adaptive inverse controller is proposed to control a MIMO system. Multi layer perception and back propagation are combinedly used in this investi...

In this paper, the inverse kinematics and inverse dynamics analysis of a parallel mechanism is presented. The mechanism consists of three fixed-length legs each supported by a three-wheeled mobile robot. The three legs support a platform, which acts as the end-effector of the mechanism. Two different designs are evaluated: one with ball joints at the top ends of the legs and revolute joints at ...

Partial least squares technique has been in use for identification of the dynamics & control for multivariable distillation process. Discrete input-output time series data ) ( Y X were generated by exciting non-linear process models with pseudo random binary signals. Signal to noise ratio was set to 10 by adding white noise to the data. The ARX models as well FIR models in combination with leas...

This work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multirobot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feed...

Inverse-feedforward control can substantially improve the performance of piezoelectric positioners (piezopositioners). The feedforward-input is found by modeling and inverting the piezopositioner dynamics. The primary challenge in such an approach is the complexity of modeling and inverting the hysteresis nonlinearity in the piezopositioner dynamics. The main contribution of this work is to all...