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Geometric Phases, Anholonomy, and Optimal Movement
(1991)
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 ...
A Model for a Thin Magnetostrictive Actuator
(1998)
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 ...
The Hybrid Motor Prototype: Design Details and Demonstration Results
(1998)
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 ...
Comparative Study of Friction-Compensating Control Strategies for Servomechanisms
(1991)
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 ...
High-Order Averaging on Lie Groups and Control of an Autonomous Underwater Vehicle
(1993)
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 ...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups
(1994)
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, ...
Modeling of Impact on a Flexible Beam
(1993)
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 ...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups, Part II: A General Constructive Control Algorithm
(1994)
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 ...
H∞ Control for Impulsive Disturbances: A State-Space Solution
(1994)
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 ...
A Motion Description Language and a Hybrid Architecture for Motion Planning with Nonholonomic Robots
(1995)
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 ...