The haptic device kinematics (position and its derivates) allows evaluate the virtual representation of the human operator in a virtual visualization at the same form defines the interaction with virtual objects programs across of a contact and deformation algorithm. The PHANToM OMNI haptic device, allows the kinematic interaction with complex virtual environments, and the potentials of application require of the available of its mathematical models. In this paper we present the kinematic results and the experimental proofs across of knowledge trajectories, such as the evaluation of the kinematic manipulability allows verify the limits of inherent admissible operation at admissible configuration space or workspace, and to this end allows the free architecture to more applications on different engineering fields.

This paper addresses the tracking control of quadrotors flying outdoors. Two control laws are combined and tested in real-time experiments. The aircraft attitude and the translational displacement are controlled using the backstepping approach, while the altitude is controlled using the sliding mode control strategy. In both cases, new modifications are introduced with respect to the existing classical algorithms. Concerning the backstepping algorithm, we introduce the dynamical model of the quadrotor in the controller design and this guarantees that the virtual input is bounded. On the other hand, the proposed sliding mode control assures that the vehicle's altitude converges in finite time to the desired reference, even when uncertainties are considered in the system. The proposed controller is tested in an outdoor environment and the experiments highlighted the controllers' reliability. Additionally, the performance of the closed-loop plant with the proposed controllers is compared with the performance given by a proportional-derivative controller.

In this paper, we consider the tracking problem for leader-follower multi-agent systems under a linear consensus protocol. Our main goal is to study the real-time behavior of the algorithm when applied to a group of four holonomic Unmanned Aircraft Systems (UAS). A comprehensive analysis of the linear consensus protocol theory is presented. In our approach, the linear model of the agents are obtained by using the step response methodology, then, the models are approximated to a standard second-order model representation. The leader-follower consensus algorithm is designed and implemented for the heading and the altitude dynamics of the group of UAS. In order to prove the effectiveness of the proposed consensus algorithm we have implemented it both in simulation as well as in real-time experiments. Our work concludes with future directions of our research, which will address the issues found during the real-time tests.

The, so-called, adaptive super-twist controller is considered here. It contains the adaptive gain-parameter which adjusts the level of a scalar control action on-line based on direct measurements the “equivalent control” obtained by a first-order low-pass filter. It is shown that the problems of the finite time convergence and keeping a small chattering amplitude can be handled simultaneously if the gain magnitude is reduced to a minimal admissible level defined by the conditions for sliding mode to exist. The suggested methodology is compared numerically with another schemes of a gain-adaptation (including σ-adaptation) showing a high effectiveness under a significant level of uncertainties and external disturbances.

This paper presents the development of an adaptive state estimator and an output controller based on the attractive ellipsoid method (AEM) for a class of uncertain non-linear systems (quasi-Lipschitz with external perturbations). The proposed method guarantees that, under a specific persistent excitation condition, the controlled system trajectories converge to an ellipsoid having a smaller trace of the corresponding inverse ellipsoidal matrix comparing to classical AEM without adaptation. An underactuated vertical double pendulum is considered as an experimental illustrative example of the suggested approach.