| 摘要 |
The invention includes systems and methods for controlling the position of a device. In one aspect, the invention is a method comprising the steps of providing a device, the device having a position, a velocity, and an acceleration; providing a control signal, the position of the device being responsive to the control signal; and varying the control signal, as the device approaches a desired location, according to a nonlinear function of the position, the velocity, and the acceleration wherein the velocity and the acceleration converge on zero as the device approaches the desired position. A number of alternative nonlinear functions may be used. In another aspect, the invention is an apparatus that controls the position of a device according to the nonlinear function described above.
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