It has been pointed out in several foregoing literatures that the well known properties of the human pilot observed in the manual visual feedback control system can also be observed in the manual auditory feedback control system. However, performance of the manual auditory feedback control usually tends to degrade as compared to the visual feedback case. In this paper, some experimental attempts to improve the maneuverability of the manual auditory feedback control system are presented. Several differently configured auditory displays and the use of phase lead compensator are proposed and evaluated using the artificial manual auditory feedback tracking control system. Experimental result indicates that performance improvement can be achieved to some extent; however, the effectiveness of the applied auditory devices and/or lead compensator largely depend on the plant characteristics

Learning control and model-based adaptive control schemes are proposed for coordinated control of multiple manipulators when physical parameters such as inertia moments and position of the mass center of a target object are unknown. The proposed schemes are constructed on the equation of motion of the coordinated multiple manipulators, which is derived in terms of joint angle coordinates of manipulators and includes the dynamics of the target object. Since this equation does not explicitly include the position of the mass center of the object, the proposed schemes can achieve exact tracking of given joint angle trajectories and given trajectories of "internal force" without using physical parameters of the manipulators and the object. The effectiveness of the proposed schemes is illustrated by the numerical simulation results on a model of two 3-DOF manipulators holding a single object.

Learning control and model-based adaptive control schemes are proposed for coordinated control of multiple manipulators holding a geometrically constrained object whose physical parameters such as inertia moments and position of the mass center are unknown. The proposed schemes are constructed on the equation of motion of the coordinated multiple manipulators which is derived in terms of joint angle coordinates of manipulators and includes the dynamics of the target object. Since this equation does not explicitly include the position of the mass center of the object, the proposed schemes can achieve exact tracking of given joint angle trajectories and given trajectories of "internal force" and external constraint force without using physical parameters of the manipulators and the object.

Sliding mode control (SMC) of a system which is linear with respect to control and its application to robotic manipulator control system design is presented. The controller is designed to provide sliding mode motion on selected manifolds in the state space. These manifolds are selected as a linear combination of the state coordinates. This selection allows the formulation of the path tracking control, force control, and impedance control problems to be very similar. The control is selected to satisfy selected Lyapunov function and stability criteria.