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hi this st,u.dy, we co,iisider the nonlinecir co,ntrol of kinernaticcilly red,u;ndunt robot manipulators. Specifically, we use U Lyup u n o~u technique to design U model bused nonlineur controller that i i c l i ~C I J C S czpoircrrt%ct,l l i d position ar1.11 s,ub-tusk trucking. We then illrrstr~ute h o w the iriodel bused controller CUIL be redesigned us an adnpti,iie firllstute feedback controller thut achie,ues asymptotic link pos,i.tror, cind sii,li-tusk tr.ucking despite pwrumetiic uncertainty ussociuted with the dynambc model. We ulso illustrate how the model based controller can be redesigned us an eruct model knowledge outp,ut feedback controller that achieves semi-global exponential h i k position and su.b-task tracking despite the luck of link velocity ,iirecis,irr'einents. We note that the co,ntrol strategy does not require the coriip,utatioii of iwerse kinemutics und does not place a n y restriction on the self-motion of the munipw.lutor; hence, the extra degrees of freedom are uvuiluble f o r subtusks (i.e., ,muantairzing ~it~,cirii~u.lab~il~ity, u~uoidaiice of joint limits and obstacle avoidance).Sirnwlation results ure included to illustrute the performunce of the control 1U. W.

Abstract-In this note, a continuous, time-varying tracking controller is designed that globally exponentially forces the position/orientation tracking error of an underactuated surface vessel to a neighborhood about zero that can be made arbitrarily small [i.e., global uniformly ultimately boundedness (GUUB)]. The result is facilitated by fusing a filtered tracking error transformation with the dynamic oscillator design presented in [6]. We also illustrate that the proposed tracking controller yields a GUUB result for the regulation problem.

This paper addresses the link position setpoint control problem of n–link robotic manipulators with amplitude-limited control inputs. We design a global-asymptotic exact model knowledge controller and a semi-global asymptotic controller which adapts for parametric uncertainty. Explicit bounds for these controllers can be determined; hence, the required input torque can be calculated a priori so that actuator saturation can be avoided. We also illustrate how the proposed control algorithm in this paper can be slightly modified to produce a proportional-integral-derivative (PID) controller which contains a saturated integral term. Experimental results are provided to illustrate the improved performance of the proposed control strategy over a standard adaptive controller that has been artificially limited to account for torque saturation.

Abstract-This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of parametric uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking. Simulation and experimental results are included to illustrate the performance of the control law.

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