Abstract— A design scheme of the finite-time tracking controller is given for a general class of nonholonomic systems including extended chained systems, extended power systems,...
This paper introduces a framework that guides the design of stabilizing feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional vector fields, the...
Dimitra Panagou, Herbert G. Tanner, Kostas J. Kyri...
Design of iterative learning control (ILC) often requires some prior knowledge about a system's control matrix. In some applications, such as uncalibrated visual servoing, th...
— The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with ...
Umashankar Nagarajan, George Kantor, Ralph L. Holl...
Abstract--This paper presents a new nonlinear adaptive tracking controller for a class of general time-variant nonlinear systems. The control system consists of an inner loop and a...