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An unprecedented dual avoidance–arrival problem is addressed for uncertain mechanical systems. The concerned system uncertainty is (possibly fast) time-varying but within an unknown bound. The objective is to design a control to simultaneously guarantee two seemingly opposite system performance: avoidance (with respect to a region) and arrival (with respect to another region). This is formulated as...
A novel constraint-following control for uncertain mechanical systems is proposed. In mechanical systems, certain given forces may arise due to the constraint forces, which means the given forces are coupled with the constraint forces. By using the second-order form of the constraints, the given forces are decoupled explicitly. The uncertainty of the mechanical system is time-varying and bounded....
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