Yongchun Xie

TL;DR: A prediction error based adaptive Jacobian controller, which includes a modified task-space computed torque controller and two modified least-squares estimators is proposed, which can work without requiring measurement of the spacecraft angular acceleration.

TL;DR: This paper proposes an integral-sliding adaptive control to realise the objective of flocking, and proposes a new notion – iBIBO (integral-bounded-input bounded-output) stability to characterise a new input–output property of a special class of dynamical systems, which is then used for the stability analysis of the closed-loop system.

TL;DR: The convergence of the force and position tracking errors is proved based on Lyapunov stability analysis and an adaptive Jacobian controller is devised to cope with the uncertainties arising from free-flyer's kinematics, dynamics and surface stiffness and position.

TL;DR: This brief investigates how passivity and nonlinear feedback are used to realize the objective of separation for visual tracking of robotic systems with parametric uncertainty and with time-varying depth, in the case of no image-space velocity measurement.

TL;DR: A dynamic modularity approach is proposed to resolve the adaptive control of robotic systems with an inner/outer loop structure, and a class of adaptive outer loop control schemes is proposed and their role is to dynamically generate the joint velocity command for the low-level joint servoing loop.