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To enhance the performance for high-speed tracking control of a piezoelectric tube actuator (PTA), an improved direct inverse rate-dependent PI model is obtained in this paper, and then adopted to design a practical feedforward controller achieving high-speed tracking control for a high-frequency trajectory with strong robustness. Specifically, based on the Prandtl-Ishlinskii (PI) model, an improved...
Many theoretic approaches for feedback stabilization control of nonholonomic mobile robots cannot be directly applied to practical robots since various kinematic constraints such as the velocity and acceleration limits are not considered in existing methods. To deal with this issue, we aim to propose a generic approach which first uses an (arbitrary) feedback stabilizer to generate the ‘path’ and...
In real applications, mobile robots are usually controlled to reach a “pose set” rather than a specific point to achieve mobile manipulation tasks. Motivated by this observation, this paper proposes a real-time set-oriented optimal path planning method based on a multi-precision polynomial rootfinder. Specifically, after giving a formal formulation of the proposed “set-oriented path planning problem”,...
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