Abstract: For haptic applications, the control of the effort around a position requires to minimize the effect of non-linearity of the viscous friction coefficient. The rejection capacity of this ...

This brief proposes a global nested PID control method for a class of strict feedback nonlinear systems with unknown system nonlinearities, which guarantees that the output and virtual tracking errors ...

This sensorimotor organization is analogous to cascade control in engineering controller design, where there are inner feedback loops nested within outer loops (Krishnaswamy et al., 1990). While many ...