Abstract. This paper considers the problem of global output feedback control for a class of nonlinear systems with inverse dynamics. The main contribution of paper is that: For the inverse dynamics with uncertain ISS/iISS supply rates, and the systems being disturbed by L noises, we construct a reduced-order observer-based output feedback controller, which drives the output of system to zero an...

This paper presents the design and implementation of a systematic fuzzy modelling methodology for the inverse dynamic modelling of robot manipulators. The fuzzy logic modelling methodology is motivated in part by the difficulties encountered in the modelling of complex nonlinear uncertain systems, and by the objective of developing an efficient dynamic model for the real-time model-based contro...

Operational problems with robot manipulators in space relate to several factors, most importantly, structural flexibility and subsequent difficulties with their position control. In this paper we present control methods for endpoint tracking of a 12 6 12 6 m2 trajectory by a two-link robot manipulator. Initially, a manipulator with rigid links is modeled using inverse dynamics, a linear quadrat...

Modern spark ignited (SI) internal combustion engines maintain their air-to-fuel ratio (AFR) at a desired level to maximize the three-way catalyst conversion efficiency and durability. However, maintaining the engine AFR during its transient operation is quite challenging due to rapid changes of driver demand or engine throttle. Conventional transient AFR control is based upon the inverse dynam...

In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...

This thesis presents a dynamical system approach to learning forward and inverse models in associative recurrent neural networks. Ambiguous inverse models are represented by multi-stable dynamics. Random projection networks, i.e. reservoirs, together with a rigorous regularization methodology enable robust and efficient training of multi-stable dynamics with application to flexible movement con...

In this paper, we introduce a hexapedal locomotion controller that simulation evidence suggests will be capable of driving our RHex robot at speeds exceeding five body lengths per second with reliable stability and rapid maneuverability. We use a low dimensional passively compliant biped as n "template" a control target !or the alternating tripod gait of the physical machine. We impose upon the...