In this note, a continuous, time-varying tracking controller is designed that globally exponentially forces the position/orientation tracking error of an underactuated surface vessel to a neighborhood about zero that can be made arbitrarily small [i.e., global uniformly ultimately boundedness (GUUB)]. The result is facilitated by fusing a filtered tracking error transformation with the dynamic ...

linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. the specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. the basic idea is based on bisecting actuated states and using linear combinations with adjustable parame...

In recent years, researchers have been dedicated to the study of underactuated manipulators which have more joints than control actuators. In previous works, one always assumes that there is enough dynamic coupling between the active and the passive joints of the manipulator, for it to be possible to control the position of the passive joints via the dynamic coupling. In this work, the authors ...

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This paper discusses dexterous, within-hand manipulation with differential-type underactuated hands. We discuss the fact that not only can this class of hands, which to date have been considered almost exclusively for adaptive grasping, be utilized for precision manipulation, but also that the reduction of the number of actuators and constraints can make within-hand manipulation easier to imple...