Remote controlled robots on offshore oil and gas platforms can potentially reduce costs and improve environment, health and safety issues. A key to successful remote control is to provide onshore operators with a sufficient ...

This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic ...

For dynamical systems with uncertainty, robust controllers can be designed by assuming that the uncertainty is bounded. The less we know about the uncertainty in the system, the more conservative the bound must be, which ...

An integral version of the line-of-sight guidance method is shown to compensate for both kinematic and dynamic disturbances generated by wind, waves and sea currents. The guidance law is designed for path following tasks ...

A control technique for counter-current and co-current guidance of underactuated marine vehicles is revisited and stronger stability properties are shown. In particular, the stronger property of uniform semiglobal exponential ...

A robotic system can consist of a single or multiple agents with a fixed or mobile base, with full or under-actuation, and possibly redundancy. Collision avoidance is a crucial task for any robotic system and is necessary ...

The stability of discrete time kinematic sensor-based control of robots is investigated in this paper. A hierarchical inner-loop/outer-loop control architecture common for a generic robotic system is considered. The inner ...

In this paper, we present a solution and experimental results for real-time control of manipulation tasks considering the alignment of a robots end effector relative to some reference. The developed controller is applicable ...