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The paper presents unified framework of feedback motion control design with the Vector Field(s) Orientation (VFO) method for the articulated tractor-semitrailer vehicle in a context of trajectory tracking as well as set-point control problems. The work is an extension of the VFO control method for the nonholonomic systems with higher-dimensional state vector. Obtained control algorithm has an intuitive...
This paper considers a new control algorithm for robot with elastic joints. The proposed algorithm requires only position signals measurements. This algorithm is an extension of the control algorithm proposed by Loria and Ortega in [10]. We have assumed that model in [10] has in addition dynamic friction components on both link and motor sides. We have incorporated harmonic drives into our system...
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