Passivity-based control methods for robots, which achieve the control objective by resha**
the robot system's natural energy via state feedback, have, from a practical point of view …

In this note we propose a simple solution to the regulation problem of rigid robots based on
the availability of only joint position measurements. The controller consists of two parts:(1) a …

This article proposes a novel prescribed performance-based neural adaptive control
scheme for robot manipulators including motor dynamics under model uncertainties without …

Advanced robot control schemes require an accurate knowledge of the dynamic parameters
of the manipulator. This article examines various issues related to robot dynamic calibration …

An adaptive controller using only joint position measurement is presented for the tracking
control of an n-link robot manipulator with unknown load. High-gain observers are used to …

This dissertation contains new results on positioning control system designs for surface
marine vessels, using nonlinear control theory combined with thorough process knowledge …

This survey monograph overviews a large core of research results produced by the authors
in the past decade about reset controllers for linear and nonlinear plants. The corresponding …

In this paper we have derived a nonlinear passive observer for moored and free-floating
ships. By adding low-and high-pass filtered innovation signals in the design, we have …

The problem of global output feedback tracking control of robot manipulators has been open
for several years. In this short note we propose a computed torque plus (nonlinear) PD like …

We propose a hybrid control system performing set-point regulation of an exhaust gas
recirculation valve of a Diesel engine. The control technique is based on a first-order reset …