Stabilizing underactuated systems is an inherently challenging control task due to
fundamental limitations on how the control input affects the unactuated dynamics …

This paper presents a comparison of H/sub/spl infin////spl mu/-synthesis sliding-mode that
was done for heading and depth control of the Draper Laboratory/MIT Sea Grant Sea Squirt …

Using the Lagrangian framework and point transformations, an alternative derivation of an
existing result on the special decomposition of the inertia matrix is presented. The Riemann …

Several authors have noted that if the robot inertia matrix D (q) can be factored as NT (q) N
(q) where N (q) is the Jacobian of a function Q (q), then Q and P= N (q) q define a canonical …

An ezisting nonlinear design methodology developed by Krener, approximate feedback
linearization, is applied to the control of underactuated single-input single-output nonlinear …

This paper presents a study of linear control systems based on exact feedback linearization
and approximate feedback linearization. As exact feedback linearization is applied, a linear …

This paper presents a practical method to solve the problem of global output feedback
tracking trajectories for a class of Euler–Lagrange systems when the variables of velocity are …

O projeto, aqui apresentado, de controle de trajetória de robôs móveis omni-direcionais tem
por objetivo o estudo das técnicas de controle multivariáveis de trajetória. Este trabalho …

The thesis concerns the fault tolerant flight control (FTFC) problem for nonlinear aircraft by
making use of analytical redundancy. Considering initially fault-free flight, the feedback …

In recent years the area of nonlinear control systems has been the subject of many studies.
Computational developments have enabled more complex applications to provide solutions …