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In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...

In this paper, we propose a model for dynamic magnetostrictive hysteresisin a thin rod actuator. We derive two equations that representmagnetic and mechanical dynamic equilibrium. Our model results from an application of ...

A novel hybrid rotary motor incorporating piezoelectric and magnetostrictive actuators has been designed and demonstrated. The novelty of this motor was the creation of an electrical resonant circuit, whereby reactive power ...

This paper describes a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance for servomechanisms. Several control methods are considered ...

In this paper we extend our earlier results on the use of periodic forcing and averaging to solve the constructive controllability problem for drift-free left-invariant systems on Lie groups with fewer controls than state ...

In this paper we address the constructive controllability problem for drift free, left-invariant systems on finite-dimensional Lie groups with fewer controls than state dimension. We consider small (e) amplitude, low-frequency, ...

We consider the problem of modeling dynamical effects of impact of an elastic body on a flexible beam. We derive a nonlinear integral equation by using the Hertz law of impact in conjunction with the beam equation. This ...

In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy the Lie algebra ...

In this paper we formulate and study an interesting (sub) optimal H∞ control problem related to the attenuation of impulsive disturbances to a class of linear systems. Among the motivating factors is the need to study ...

This paper puts forward a formal basis for behavior-based robotics, using techniques that have been successful in control- theory-based approaches for steering and stabilizing robots that are subject to nonholonomic ...