In this paper partial synchronization of diffusively coupled Chua systems is presented. Partial synchronization is defined as the situation where some circuits synchronize with each other, while others do not. An experimental setup, consisting of maximal four Chua circuits operating in the double scroll regime, is used to show the existence of linear invariant manifolds corresponding to the partial synchronized state.
This paper considers output based tracking control for an experimental underactuated H-drive manipulator. This manipulator can be transformed into a so-called second-order chained form by a coordinate-and feedback transformation. An observer is proposed to solve the output feedback problem for systems in second-order chained form. For the designed observer global stability of the closed loop system is proved. Due to friction in the unactuated rotational joint the closed loop system is no longer asymptotically stable, but with a heuristic modification of the observer both the tracking and observer errors are bounded. Experimental results show the validity of this approach.
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