This paper addresses the stabilization of a class of nonlinear systems in the presence of disturbances, using switching controllers. To this effect we introduce two new classes o...
— A framework for the deployment of multiple autonomous robotic fish to achieve leader-following formations with Bezier trajectory is presented. Each follower robot estimates 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...
This paper is a response to requests from several respected colleagues in academia for a careful writeup of the classical time-optimal control based hybrid controllers that we have...
Haitham A. Hindi, Lara S. Crawford, Rong Zhou, Cra...
In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactua...