The copyright law: higher education and technological change

In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is ...

By considering the dynamic response of a robot manipulator as characterized by the sliding function, a technique is proposed to estimate the perturbation in the robot control system. Perturbation compensation is then incorporated in the design of a ...

This paper presents the formulation of a novel block-backstepping based control algorithm to address the control problem of the well-known nonlinear benchmark two-link planar robot (acrobot) system. For the convenience and compact design, first the ...