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An adaptive hierarchical sliding-mode control (AHSMC) strategy for a class of second-order underactuated systems is presented. First, the whole system is divided into two subsystems. A first-level sliding surface is defined for each subsystem. Then a second-level sliding surface is defined for these two-level sliding surfaces. The AHSMC law is derived in Lyapunov sense when the uncertainties are bounded...
Power efficiency degradation of machines often provides intrinsic indication of problems associated with their operation conditions. Inspired by this observation, in this paper, a simple yet effective power efficiency estimation based health monitoring and fault detection technique is proposed for modular and reconfigurable robot with joint torque sensor. Power efficiency coefficients of each joint...
This paper investigates the active simultaneous localization and mapping (SLAM) for mobile robot in unknown environment. Based on the estimation by extended Kalman filter (EKF), we convert the active SLAM into a problem of multi-objective optimal control. The robot chooses the control inputs that optimize the objective function such that it can explore the environment by active, intelligent and adaptive...
Map building in unknown environment is the prerequisite to perform other tasks for the mobile robots. An effective approach based on the frontier points is proposed in this paper. Firstly, an adaptive clustering algorithm which integrates subtractive clustering and k-means clustering is introduced to partition the frontier points into different groups. Secondly, the centers of the groups serve as...
This paper presents new design procedures for adaptive robotic control with uncertain plant models. We consider cases where the uncertain terms of the dynamic model are completely not available. The uncertain plant terms are not assumed to be "slow varying" or bounded by a constant bound. Instead, they are bounded by a first order polynomial of the system states. This assumption allows the...
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