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This paper presents the implementation of a Super Twisting (ST) controller for distributed formation flight based on a consensus algorithm for multi-agent systems (MAS). The equations of motion of each agent are based on the Newton- Euler approach and the navigation of each agent is distributed. For the navigation, two controllers namely, a PID algorithm and a Super Twisting algorithm, are tested...
This paper studies the kinematics and dynamics of underactuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully-actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix and an efficient inverse dynamics...
Given desired task space trajectories, the robot control problem is to choose the joint torques, T, so that the actual trajectories track the desired ones. If joint-based control algorithms are used, the transformation from task space to joint space requires an inversion of the Jacobian matrix, J. Typically this requires order (n3) operations where n is the number of links in a serial manipulator...
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