This paper is concerned with control allocation strategies with two-time scale dynamic inversion which generate nominal control input trajectories. In addition, a robust flight control design method is proposed by using a time-varying control technique which is time-varying version of the pole placement of linear time-invariant system for an agile missile with aerodynamic fin, thrust vectoring control, and side-jet thruster. The control allocation algorithms proposed in this paper are capable of extracting the maximum performance by combining each control effector. The time-varying control technique for the autopilot design enhances the robustness of the tracking performance for the wide angle of attack range. The main results are validated through the nonlinear simulations with aerodynamic data.

This paper presents how the control performance of the feature-based visual servo system is improved by utilizing redundant features. The effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy in the world coordinate system. Usefulness of the redundant features is verified by the real time experiments. To investigate the accuracy of the redundant visual servo control, real time experiments on the dual-arm robot with eight joints are carried out. The rotation and translation step responses with three, four and five features are examined.

Introduces a methodology of recognizing the position of a mobile/task robot using an active calibration method. The major problem residing in the precise control of a mobile/task robot is providing an accurate and stable base for the task robot through precise control of the mobile robot. The paper proposes a methodology for the precise control of the mobile robot and the active calibration, which recognizes the position of the mobile robot using the camera attached at the hand of the task robot. This method is applied to the manipulation of polygonal and cylindrical objects. This active calibration method is different from the passive calibration, which is performed by using a calibration grid. The active calibration method finds an algorithm to actively compensate camera and robot pose through the correspondence of point, line and conic of an assembly part by using the geometric property during robot operation. Experimental results show that the mobile/task robot improves the task efficiency and compensates actively the pose using the object's model through the active calibration method.