In this paper, an asymptotically stable (AS) combined kinematic/torque control law is
developed for leader–follower-based formation control using backstepping in order to …

In this paper, a novel, unified model-based fault-detection and prediction (FDP) scheme is
developed for nonlinear multiple-input-multiple-output (MIMO) discrete-time systems. The …

In this paper, a new robust integral of signum of error (RISE) feedback type controller is
designed for a class of uncertain nonlinear systems. Unlike the previous versions of RISE …

For assistive robots to integrate seamlessly into human environments, they are required to
understand the intentions of their human partners, and adapt their motion plans accordingly …

In recent years, controller formulations using robust integral of sign of error (RISE) type
feedback have been successfully applied to a variety of nonlinear dynamical systems. The …

In this paper, asymptotically stable control laws are developed for leader–follower based
formation control using backstepping in order to accommodate the dynamics of the robots …

This paper presents a robust adaptive control design method for a class of multiple-input-
multiple-output uncertain nonlinear systems in the presence of parametric and …

In this paper, a novel control scheme is proposed for the tracking problem of mechanical
systems in the presence of external vibrations and friction. An acclerometer is installed on …

Research on hybrid position and force control of robot manipulators has assumed that the
structure of constraint surface is known exactly. However, in many force control applications …

The objective in this paper is to control a robot as it transitions from a non-contact to a
contact state with an unactuated viscoelastic mass-spring system such that the mass-spring …