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In this paper, an adaptive neural sliding mode control based on radial basis function (RBF) neural network (NN) is implemented on a piezo-driven XY parallel micro-positioning stage for a sub-micron accuracy motion tracking control. The controller is designed to map the relationship between the sliding surface variable and voltage applied to piezoelectric actuator (PZT). Hence, neither a hysteresis...
This paper addresses a formation control issue for a group of robots with dynamic interaction topology. Normally given a formation shape (pattern), if interaction topology changes from time to time, formation control developed for continuous systems may fail to keep formation, because the system may be not continuous any longer. This paper introduces a decentralized formation control to realize formation...
This paper addresses the multiple tasks performing issues for redundant nonholonomic mobile manipulators. An extended gradient projection redundancy resolution scheme is proposed which can determine the directions of self-motion to perform multiple secondary tasks. This scheme is easy to use and can avoid algorithm singularities. A general dynamic modeling method is presented in consideration of nonholonomic...
The issue of multi-robot formation is address in this paper. Usually robots can only handle local information described by an adjacency graph. We define structure error of formation based on the graph theory and propose a local control strategy for individual robot based on NN control with robust term which can ensure robots converge to a unique formation. Furthermore we discuss the performance on...
Formation navigation is an interesting topic in robotic community. In this paper, we focus on two aspects of formation navigation, leader-formation keeping and obstacle avoidance. A local control strategy based on adaptive NN control with robust term and a general obstacle avoidance strategy are proposed. It is proved that if formation pattern is smooth continuous, even interaction topology is dynamic,...
This paper addresses the task-space trajectory following issue for a nonholonomic mobile modular manipulator, which is composed of a 4-degree-of-freedom (DOF) modular manipulator and a 3-wheeled nonholonomic mobile platform. An adaptive neural-fuzzy controller (ANFC) is presented to control the end-effector to follow a desired spatial trajectory in a 3-D space. The proposed algorithm does not need...
A robust adaptive neural-fuzzy (NF) controller is presented in this paper for trajectory following of nonholonomic mobile modular manipulators in task space. On the basis of modular robot concept, an integrated dynamic modeling method is proposed in consideration of the interactive motions and the nonholonomic constraints. NF systems are used as estimators to approximate dynamic model of the robot...
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