A weak nonlinear plant can be linearized and will track an input signal if the plant is preceded by a nonlinear controller which approximates the inverse of the plant’s transfer function. Present techniques for adjusting the controller adaptively to the plant require an additional nonlinear adaptive filter to perform a separate system identification. Straightforward update algorithms can not di...

This paper presents an application of Neural Networks to the control of a real system with measurement noise. The system is a kiln and the steps taken to arrive at direct and inverse models are described. The results of controlling the kiln with a Direct Inverse Control strategy are presented. Copyright CONTROLO 2000

It is proposed that controllers that approximate the inverse dynamics of the controlled plant can be used for on-line compensation or changcM in (.he plant's dYflarni(�s. The idea is (,0 lise (,lIe vcr,V Marne controller in two modes at the same time: both for static and dynamic feedback. Implications for the learnin� of neurocontrollers are discussed. The proposed control mode relaxes the dema...

This paper presents an adaptive two-level control strategy for a biped walking model and demonstrates its performance in a wide range of walking modes with considerably diverse model and control parameter settings. Proposed control strategy inherits a push off that resembles considerably to forceful extension of the trailing leg during push off in human locomotion and represents a very importan...

The subject of this paper is the motion control problem of wheeled mobile robots (WMRs) in environments without obstacles. With reference to the popular unicycle kinematics, it is shown that dynamic feedback linearization is an efficient design tool leading to a solution simultaneously valid for both trajectory tracking and setpoint regulation problems. The implementation of this approach on th...

The boundary feedforward control problem for a class of distributedparameter port-Hamiltonian systems in one spatial dimension is addressed. The considered hyperbolic systems of two conservation laws (with dissipation) are discretized in the spatial coordinate using an energy-based, structure preserving discretization scheme. The resulting finite-dimensional approximate state representation has...

This paper focuses on the open-loop and closed-loop position control of a tripod-like joint-free parallel micromanipulator that is composed of three piezohydraulic actuation systems. The micromanipulator is controlled in open-loop using a general inverse kinematics model presented earlier for a tripod manipulator having ball and pin joints. Open-loop control is sufficient in many applications b...

1. Overview 2. Design Requirements 3. Alternative Approaches 4. Coordinate Systems and Direction Vectors 4.1. Coordinate Systems 4.2. Reflector Unit Vectors 4.3. Angular Rates and Angular Velocity of the Reflector 4.4. Sensor Data 5. Heliostat-to-Actuator Kinematics 5.1. From Mirror Angular Rates to Linear Actuator Rates 6. Rough Orientation Control 6.1. Orientation Control Specified with Angle...

Susumu Tachi The University of Tokyo Hongo 7-3-1, Bunkyo-ku Tokyo 113-0033 Japan In order to grasp an object, we need to solve the inverse kinematics problem, i.e., the coordinate transformation from the visual coordinates to the joint angle vector coordinates of the arm. Although several models of coordinate transformation learning have been proposed, they suffer from a number of drawbacks. In...