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We derive a continuous nonlinear control law for spacecraft attitude trajectory tracking of arbitrary C1 attitude trajectories based on rotation matrices. This formulation provides almost global stabilizability, that is, Lyapunov stability of the desired equilibrium of the error system as well as convergence from all initial states except for a subset whose complement is open and dense. This controller...
Motion control systems have found their application in various industry products. Common issues encountered when designing this type of systems are nonlinearities and uncertainties (e.g., unknown parameters, unmodeled dynamics, and disturbances). In this paper, we study controller design for a class of motion systems with rotary components. The systems are assumed to have unknown parameters which...
This paper presents an improved method for precision motion control by combining individual axis iterative learning control (ILC) and cross-coupled ILC (CCILC) into a single control input. CCILC is a new method in which a multi-axis cross-coupled controller (CCC) is reformatted into a single-input single-output (SISO) ILC format. Applying the techniques of ILC to CCC enables learning of the cross-coupled...
In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace. Three typical tasks are considered, namely stabilization of the end effector over the object's surface, motion planning and eventually trajectory tracking of the end effector across the object's surface. The proposed controllers utilize navigation functions and...
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