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This paper investigates the coupled disturbance reconstruction, state estimation and trajectory tracking problems for a class of nonlinear systems. The sliding mode observer and the state feedback approaches are utilized to solve these problems. Considering only a partial of the system states are measured but the disturbances couple with time-varying parameters that the observer is designed by transforming...
Knee exoskeletons can help injured subjects regain locomotion ability by providing external movement compensation as a robot-assisted rehabilitation technique. Tracking control of joint angle of knee exoskeletons often encounters time-dependent (time-varying) model parameter issues, which would dramatically put an influence up on dynamic behaviors. In a number of applications, inertial and viscous...
In robotics, to ensure safe physical interactions between robots and environment for protecting actuators from being damaged by abrupt dynamics changes, compliance strategies are often preferred to be used to make their dynamic process to be more soft by following some natural features observed from humans. Mass-spring-damper (MSD) system is frequently encountered in many compliant robotics systems...
To analyze point cloud data of a car part, massive computations need to be carried out; if it is done by conventional ways, the processing efficiency is relatively low. However, by applying partition method to point data analysis, the work is easier. Such partition method should follow the minimal-distance matching principle to find out the enclosing matching points. Then the intersections of the...
Second-order consensus tracking problem of uncertain multi-vehicle systems without velocity measurements is studied on the directed communication topologies. We first construct two dynamic controllers via a passivity-based approach for the nominal vehicle model, which are linear and bounded (nonlinear) respectively. We then develop conditions on linear uncertainty and disturbance estimators (UDEs)...
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