This paper is concerned with the development of a control system for rotational maneuver and vibration suppression of a flexible spacecraft. It is assumed that the system parameters are unknown. The design approach presented here treats the problem of spacecraft attitude control separately from the elastic vibration suppression problem. As a stepping stone, a state feedback sliding mode control...

Adaptive motion, internal force, and external contact force control of multiple manipulators handling a constrained object is solved in this paper. Parametric uncertainties may exist in the manipulators and in the object as well as in the friction coeficients of contact surfaces. A set of transformed dynamic equations are obtained in the joint space, in which internal force and external contact...

In this paper, a fuzzy control scheme for visual path-following of wheeled mobile robots is presented. It relies on the feedback of a geometric constraint: the trifocal tensor (TT). The TT is computed from the image currently seen by an onboard camera and the sequence of target images previously acquired, which defines the visual path. Only one element of the TT is needed for feedback, which pr...

This work examines three methods of adaptive output feedback control for robotic manipulators. Implementing output feedback for control, instead of full-state feedback, allows use of only the position information. The position can be measured quite accurately, while velocity and acceleration measurements tend to get corrupted by noise. As well, having only a position sensor reduces costs in pro...

This paper describes the method for trajectory tracking and balancing the Self Erecting Single Inverted Pendulum (SESIP) using Linear Quadratic Regulator (LQR). A robust LQR controller for stabilizing the SESIP is proposed in this paper. The first part of the controller is a Position Velocity (PV) controller to swing up the pendulum from its hanging position by moving the pendulum left and righ...

Galactic winds from starbursts and Active Galactic Nuclei (AGN) are thought to play an important role in driving galaxies along the starburst-AGN sequence. Here, we assess the impact of these winds on the CO emission from galaxy mergers, and, in particular, search for signatures of starburst and AGN-feedback driven winds in the simulated CO morphologies and emission line profiles. We do so by c...

In this article, we propose a control law for almostglobal asymptotic tracking (AGAT) of a smooth reference trajectory for a fully actuated simple mechanical system (SMS) evolving on a Riemannian manifold which can be embedded in a Euclidean space. The existing results on tracking for an SMS are either local, or almost-global, only in the case the manifold is a Lie group. In the latter case, th...

A suggested method for design of supplemental dampers in multistory structures is presented. Active optimal control theory is adapted to design linear passive viscous or viscoelastic devices dependent on their deformation and velocity (best represented by Kelvin model). The theory using a linear quadratic regulator (LQR) is used to exemplify the procedure. The design is aimed at minimizing a pe...