This paper addresses the problem of global output feedback, link position tracking control of robot manipulators. Specifically, a robust, Lyapunov-based controller is designed to ensure that the link position tracking error is globally uniformly ultimately bounded despite the fact that only link position measurements are available in the presence of incomplete model information (i.e., parametri...

This paper presents the design of a variable structure-like tracking controller for a mobile robot system. The controller provides robustness with regard to bounded disturbances in the kinematic model. Through the use of a dynamic oscillator and a Lyapunov-based stability analysis, we demonstrate that the position and orientation tracking errors exponentially converge to a neighborhood about ze...

the notion of a bead metric space is defined as a nice generalization of the uniformly convex normed space such as $cat(0)$ space, where the curvature is bounded from above by zero. in fact, the bead spaces themselves can be considered in particular as natural extensions of convex sets in uniformly convex spaces and normed bead spaces are identical with uniformly convex spaces. in this paper, w...

Since the appearance of a paper by Carleial and Hellman [2] in 1975, it is known that the bistable behavior of the ALOHA system is associated with a bimodal shape of the backlog steady-state disbibution. In this paper, we generalize the problem and ask under what conditions a one-dimensional Markov Chain possesses a multimodal steady-state distribution. We restrict our analysis to wtiformly bou...

In the presence of nonvanishing perturbations, it is often the case that asymptotic stability is not possible and hence the trajectories of a system can only be guaranteed to be uniformly ultimately bounded. This paper presents a method for estimating ultimate bounds in both continuousand discrete-time systems. The method is introduced for linear systems and is then applied to nonlinear systems...

In this paper, a cooperative visual servo controller is presented for autonomous citrus harvesting. A fixed camera provides a global view of a tree canopy for the camera-in-hand, attached to the end-effector, to servo to a target fruit. The paper focuses on the development of a robust, image-based, nonlinear visual servo controller to regulate the end-effector to the fruit location in the prese...

We study the asymptotic stability properties of nonlinear switched systems under the assumption of the existence of a common weak Lyapunov function. We consider the class of nonchaotic inputs, which generalize the different notions of inputs with dwell-time, and the class of general ones. For each of them we provide some sufficient conditions for asymptotic stability in terms of the geometry of...