Movement planning is thought to be primarily determined by motor costs such as inaccuracy and effort. Solving for the optimal plan that minimizes these costs typically leads to specifying a time-varying feedback controller which both generates the movement and can optimally correct for errors that arise within a movement. However, the quality of the sensory feedback during a movement can depend...

In this article we present a feedback control law which gives exponential convergence of a nonholonomic underwater vehicle to a constant desired connguration. This is achieved using a piecewise smooth feedback control law which is based on previous work on the control of nonholonomic mobile robots in the plane. The kinematic model of the underwater vehicle is given in SE(3) by homogeneous trans...

With the widespread use of wheeled mobile robots (WMR) in various applications, new challenges have arisen in terms of designing its control system. One of such challenges is caused by wheel slippage. This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage (not including sliding). In this teleoperation system, the mobile robot’s linear velocity foll...

This paper deals with feedback stabilization of a flexible beam clamped at a rigid body and free at the other end. We assume that there is no damping and the rigid body rotates with a nonconstant angular velocity. To stabilize this system, we propose a feedback law which consists of a control torque applied on the rigid body and either a dynamic boundary control moment or a dynamic boundary con...

This paper deals with the design of a control strategy that combines a nonlinear observer and a partial feedback linearization controller to stabilize the periodic orbits of an under-actuated three link biped robot. We show first that passive dynamics (non-actuated coordinates) can be linearized and decoupled from the rest of the system by applying a nonlinear feedback. Then, the proposed obser...

In this article we present a feedback control law which gives exponential convergence of a nonholonomic underwater vehicle to a constant desired connguration. This is achieved using a piecewise smooth feedback control law which is based on previous work on the control of nonholonomic mobile robots in the plane. The kinematic model of the underwater vehicle is given in SE(3) by homogeneous trans...

By analyzing the characteristics and applications of robotic at locally and abroad, specifies the importance of force feedback technology in the robotic system and describes the current development process of force feedback technology. The methods, design and implementation of the master/slave prototype surgical system along with force feedback facility are introduced. The basic materials is al...

This work focuses on the modeling and feedback control of the high velocity oxygen fuel (HVOF) thermal spray processing of WC–Co coatings. A first-principles-based process model is proposed to explore the fluid dynamics and particle inflight behavior in the HVOF flow field. Rule-based stochastic simulation, which encapsulates the main features involved in the deposition process, is used to capt...