Stability and Convergence for Systems with Switching Equilibria (2008)
Silvia Mastellone, Duˇsan M. Stipanović, Mark W. Spong
Abstract — We study systems in which the equilibrium point varies discontinuously according to a well defined state or time-dependent switching law. We refer to those systems as systems with...
Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Robot Modeling, John Wiley, ...
3 hours of lecture per week.
Mark W. Spong, Francesco Bullo
In this paper we investigate the relationship between nonlinear control and passive walking in bipedal locomotion for the general case of an n degree-of-freedom biped in three dimensional space. We...
Chad B. Partridge, Mark W. Spong, Chad B. Partridge, Mark W. Spong
In this paper, we continue our investigations into robotic air hockey by studying the problem of controlling the trajectory of a puck subject to impacts. Impacts are modeled using the Routh...
Invariance Control of Noncascade Nonlinear Systems (2007)
Jorg Mareczek, Martin Buss, Mark W. Spong
This paper addresses the problem of controlling a state space region positively invariant while guaranteeing asymptotic stability for a class of nonlinear noncascade systems. Therefore a nonsmooth...
of an Air Hockey Robot * (2007)
Jung Il Park, Chad B. Partridge, Mark W. Spong
We analyze a neural network implementation for puck state prediction in robotic air hockey. Unlike previous prediction schemes which used simple dynamic models and continuously updated an intercept...
Hybrid Control Of A Planar 3-Dof Parallel Manipulator For Machining Operations (2007)
Srinivas Satya, Placid M. Ferreira, Mark W. Spong
This paper analyses the potential for active force control using a hybrid position/force control approach for machining operations. Further, it considers the use of a three degree of freedom Stewart...
Coordinated Science, Mark W. Spong, Thomas Groeneveld
. We have previously derived feedback linearization and partial feedback linearization controllers for rigid robot manipulators based on the Riemannian curvature of the robot inertia. In this paper...
Mechatronics Education At The University Of Illinois (2007)
. This paper describes the development of the College of Engineering Mechatronics Laboratory at the University of Illinois and an associated course, Introduction to Mechatronics. The Mechatronics...
Mark W. Spong, Rogelio Lozano, Robert Mahony
In this paper we discuss the nonlinear control of anovel biped robot with three-degrees-of-freedom and two control inputs, whose dynamics are linear apart from the gravitational torque and the impact...
Switching Control for Multi-Input Cascade Nonlinear Systems (2007)
Brian Cronin And, Brian Cronin, Mark W. Spong
In this paper we extend earlier work on switching control of single-input nonlinear systems to the multi-input case. We consider the control of partially linear cascade systems and give su#cient...
Romeo Ortega, Mark W. Spong, Sangcheol Lee, Kwanghee Nam
In several practical applications actuators are interconnected to a controlled plant through long cables.
Discrete Time Passivity in Bilateral Teleoperation over the Internet (2004)
Paul Berestesky, Nikhil Chopra, Mark W. Spong
Abstract — In this paper, we investigate issues in the discrete-time implementation of passivity based control of bilateral teleoperators. The usual scattering formalism which, in continuous time,...
Bilateral teleoperation over internet: the time varying delay problem (2003)
Nikhil Chopra, Mark W. Spong, Ra Hirche, Martin Buss
This paper addresses the problem of time-varying communication delay in force reflecting bilateral teleoperation. The problem is motivated by the increasing use of the Internet as a communication...
Bilateral Teleoperation over the Internet: the Time Varying Delay (2003)
Problem Nikhil Chopra, Nikhil Chopra, Mark W. Spong, Ra Hirche, Martin Buss
This paper addresses the problem of time-varying communication delay in force reflecting bilateral teleoperation. The problem is motivated by the increasing use of the Internet as a communication...
Stabilization of Underactuated Mechanical Systems via Interconnection and Damping Assignment (2002)
passivity. In this paper we consider the application of a new formulation of Passivity Based Control, known as Interconnection and Damping Assignment or IDA-PBC, to the problem of stabilization of...
The Mechatronics Control Kit for Education and Research (2001)
Spong, Mark W., Block, Dan, Åström, Karl Johan
We discuss the use of the Mechatronics Control Kit from Mechatronic Systems, Inc. for control education and research. The Mechatronics Control Kit can be configured with several distinct plants,...
Trajectory planning and control of a novel walking biped (2001)
Timothy G. Mcgee, Mark W. Spong
This paper discusses the control of the planar underactuated two-motor, three-link walking robot originally considered in [1]. This robot consists of two legs connected to a cylindrical torso by...
Linearization and stabilization of second-order nonholonomic chained systems (2001)
S. S. Ge, Z. Sun, T. H. Lee, Mark W. Spong
Abstract: This paper presents a theoretical framework for linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth...
Linearization and Stabilization of Second-Order Nonholonomic Chained Systems (2001)
Ge Sun Lee, S. S. Ge, Z. Sun, T. H. Lee, Mark W. Spong
This paper present s at==j#3CL framework forlinearizatCL and st5Pj lizatH5 of second-order nonholonomic chainedsystd#H By giving a newcritHRP# fort he problem of nonsmoo t nonregular...
Mark Spong Coordinated, Mark W. Spong, Rogelio Lozano, Robert Mahony
In this paper we discuss the nonlinear control of a novel biped robot with three-degrees-offreedom and two control inputs, whose dynamics are linear apart from the gravitational torque and the impact...
Invariance Control for a Class of Cascade Nonlinear Systems (2000)
Jörg Mareczek, Martin Buss, Mark W. Spong
We consider the control of partially linear cascade systems using switching control of the states of the linear subsystem. We give sufficient conditions under which feedback of the linear states with...
Stabilization of Underactuated Mechanical Systems via Interconnection and Damping Assignment (2000)
Passivity--based control (PBC) is a well--established structure--preserving design methodology which has shown to be very powerful to design robust controllers for physical systems described by...
Impact Controllability of an Air Hockey Puck (2000)
In this paper we investigate the controllability of an air hockey puck subject to impacts from a mallet, which is a special case of the more general problem of impulsive manipulation. We first...
On the Controllability of an Air Hockey Puck (2000)
In this paper we investigate the controllability of an air hockey puck subject to impulsive inputs, which is a special case of the more general problem of impulsive manipulation of rigid objects. We...
Control of Planar Rigid Body Sliding with Impacts and Friction (2000)
Chad Partridge And, Chad B. Partridge, Mark W. Spong
In this paper we continue our investigations into robotic air hockey by studying the problem of controlling the trajectory of a puck subject to intermittent impacts. Impacts are modeled using the...
In this paper, we first review results of integral manifolds of singularly perturbed nonlinear di#erential equations. We then outline the basic elements of the integral manifold method in the context...
Control of planar rigid body sliding with impacts and friction (2000)
Chad B. Partridge, Mark W. Spong
In this paper we continue our investigations into robotic air hockey by studying the problem of controlling the trajectory of a puck subject to intermittent impacts. Impacts are modeled using the...
Nonlinear Control of the Inertia Wheel Pendulum". Automatica, submitted (1999)
Mark W. Spong, Peter Corke, Rogelio Lozano
In this paper we introduce the Inertia Wheel Pendulum, a novel mechanical system consisting of a physical pendulum with a rotating bob. This system has several attractive features both from a...
Nonlinear Control of the Gyroscopic Pendulum (1999)
Mark W. Spong, Peter Corke, Rogelio Lozano
In this paper we consider the nonlinear control of the Gyroscopic Pendulum, a novel mechanical system consisting of a physical pendulum with a rotating mass at the end. We study the problem of...
Bipedal Locomotion, Robot Gymnastics, and and Robot Air Hockey: A Rapprochement (1999)
In this paper we discuss control problems in bipedal locomotion, robot gymnastics, and robot air hockey and some interconnections among them. These problems are fundamentally related to the control...
Passivity Based Control Of The Compass Gait Biped (1999)
. In this paper we discuss the passivity based control of the two-link robot known as the Compass Gait Biped. Starting from a narrow region of initial conditions, the compass gait biped is capable of...
Control Education Crossing Department Boundaries (1999)
In this paper we discuss our recent experiences in developing a network of cross-disciplinary laboratories for control systems education at the University of Illinois at Urbana-Champaign. Control...
Passivity Based Control of the Compass Gait Biped (1999)
Abstract. In this paper we discuss the passivity based control of the two-link robot known as the Compass Gait Biped. Starting from a narrow region of initial conditions, the compass gait biped is...
Control Education Crossing Department Boundaries (1999)
In this paper we discuss our recent experiences in the development of a network of cross-disciplinary laboratories for control systems education at the University of Illinois at Urbana-Champaign....
On the Uniform Boundedness of the Inertia Matrix of Serial Robot Manipulators (1998)
Fathi Ghorbel, B. Srinivasan, Mark W. Spong
In the control of robot manipulators, it is customary to assume that the eigenvalues of the inertia matrix are uniformly bounded from below and above. However, in this paper it is shown that not all...
Underactuated Mechanical Systems (1998)
In this paper we discuss the control of underactuated mechanical systems. Underactuated mechanical systems have fewer control inputs than degrees of freedom and arise in applications, such as space...
Control of Redundant Manipulators Using Logic-Based Switching (1998)
Bradley E. Bishop, Mark W. Spong
In this paper we study the control of redundant planar robotic manipulators using a switched (or hybrid) control scheme, focusing on manipulators with a degree of redundancy of one. We emphasize the...
Adaptive Calibration And Control Of 2d Monocular Visual Servo Systems (1997)
Bradley E. Bishop, Mark W. Spong
: For a majority of visual servo systems, accurate camera--robot calibration is essential for precision tasks, such as tracking time--varying end--effector trajectories in the image plane. This paper...
Force Control: A Bird's Eye View (1997)
Joris De, Joris De Schutter, Herman Bruyninckx, Wen-hong Zhu, Mark W. Spong
This paper summarizes the major conclusions of twenty years of research in robot force control, points out remaining problems, and introduces issues that need more attention. By looking at force...
Force Control: A Bird's Eye View (1997)
Joris De Schutter, Herman Bruyninckx, Wen-Hong Zhu, Mark W. Spong
This paper summarizes the major conclusions of twenty years of research in robot force control, points out remaining problems, and introduces issues that need more attention. By looking at force...
Fixed-Camera Visual Servo Control for Planar Robots (1996)
Rafael Kelly, Paul Shirkey, Mark W. Spong
We present a new controller to solve the visual servo control problem for planar robots in the fixed-- camera configuration. For a static target we characterize the global closed loop attractor using...
Motion Control of Robot Manipulators (1996)
This article discusses the motion control of such manipulators. Figure 1: Puma Robot Manipulator Robot manipulators are basically multi--degree--of--freedom positioning devices. The robot, as the...
Energy Based Control Of A Class Of Underactuated Mechanical Systems (1996)
. In this paper we discuss some design methods for the control of a class of underactuated mechanical systems. This class of systems includes gymnastic robots, such as the Acrobot, as well the...
This paper describes a new course, Undergraduate Research in Robotics and Automation, developed by the author in the Department of General Engineering at the University of Illinois at...
On Noncollocated Control of a Single Flexible Link (1996)
Prasad A. Chodavarapu, Mark W. Spong
The presence of right half plane (RHP) zeros in the transfer function relating the base torque to the tip position has long been the source of difficulty in noncollocated control of a Single Flexible...
Control of Underactuated Mechanical Systems Using Switching and Saturation (1996)
Mark W. Spong, Laurent Praly, Coordinated Science, Centre Automatique
In this paper we present some ideas on the control of underactuated mechanical systems using switching and saturation. We focus on the swingup control problem for a class of "gymnast"...
An Experimental Comparison of Robust Control Algorithms On a Direct Drive Manipulator (1996)
In this paper we present an experimental comparison of recent passivity based robust control algorithms on a two link direct drive robot arm. The manipulator is actuated with high torque brushless DC...
An Experimental Testbed for Intelligent Control (1995)
Brad Bishop, Paul Shirkey, Mark W. Spong
In this paper we discuss the development of an experimental testbed for research in intelligent robotic systems. Our system, an air hockey playing robot, consists of a direct drive robot arm, DSP...
The Pendubot: A Mechatronic System for Control Research and Education (1995)
Mark W. Spong, Daniel J. Block
1 In this paper we describe the Pendubot, a mechatronic device for use in control engineering education and for research in nonlinear control and robotics. This device is a two--link planar robot...
Mechanical Design & Control of the Pendubot (1995)
Daniel Jerome Block, Daniel Jerome Block, Mark W. Spong
In this thesis we present the design and control of an underactuated two link robot called the Pendubot. We first give details of the design of the Pendubot, discussing the components of the linkage...
Robotica: Mathematical Package for Robot Analysis (1994)
John F. Nethery, Mark W. Spong
Robotica 1 [3] is a Mathematica based package for analysis of robot kinematics, dynamics, and control. It encapsulates over 30 functions for symbolic and numeric computation, simulation, and...
Robot Control : Dynamics, Motion Planning and Analysis (1993)
Spong, Mark W. (ed.), Lewis, Frank L. (ed.), Abdallah, Chaouki T. (ed.)
Robot dynamics and control / Mark W. Spong, M. Vidyasagar (1989)
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