The adaptive stabilization scheme based on tuning function for stochastic nonlinear systems with stochastic integral input-to-state stability SiISS inverse dynamics is investigated. By combining the stochastic LaSalle theorem and small-gain type conditions on SiISS, an adaptive output feedback controller is constructively designed. It is shown that all the closed-loop signals are bounded almost...

This paper presents repetitive and adaptive motion control schemes for rigid-link robot manipulators, when the manipulator’s joint velocities cannot be measured by the control system. The control objective consists in tracking a prescribed desired trajectory. In the case of repetitive control, the desired trajectory is periodic and it is required that the robot achieve the control objective thr...

This paper deals with the development of guidance, navigation and control algorithms for a prototype of a miniature aerial delivery system capable of high-precision maneuvering and high touchdown accuracy. High accuracy enables use in precision troop resupply, sensor placement, urban warfare reconnaissance, and other similar operations. Specifically, this paper addresses the terminal phase, whe...

Recursive modelling for the kinematics and dynamics of the known 3-PRR planar parallel robot is established in this paper. Three identical planar legs connecting to the moving platform are located in a vertical plane. Knowing themotion of the platform,we develop first the inverse kinematics and determine the positions, velocities and accelerations of the robot. Further, the principle of virtual...

Recently, we demonstrated that humans can learn to make accurate movements in an unstable environment by controlling magnitude, shape, and orientation of the endpoint impedance. Although previous studies of human motor learning suggest that the brain acquires an inverse dynamics model of the novel environment, it is not known whether this control mechanism is operative in unstable environments....

In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrot...

For stationary systems, efficient techniques for adaptive motor control exist which learn the system’s inverse dynamics online and use this single model for control. However, in realistic domains the system dynamics often change depending on an external unobserved context, for instance the work load of the system or contact conditions with other objects. A solution to context-dependent control ...

Tracking of a square trajectory 12.6 m x 12.6 m by a two-link flexible robot manipulator is performed repetitively for both inverse dynamics control (IDC) and fuzzy logic control (FLC). Repetitive learning inverse dynamics control (RLIDC) achieves no improvement in tracking but repetitive learning fuzzy logic control (RLFLC) achieves greater precision where cyclic tracking enables the fuzzy inf...