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This paper extends the work of inertial sensor based upper limb motion tracking by introducing a simple calibration method to automatically construct a global reference frame and estimate arm length. The method has effectively eliminated the requirement of manually aligning the sensors' local reference frames when multiple sensors are used to track the movements of the individual arm segments. The...
For the entry guidance based on a nominal trajectory, trajectory tracking is an important part, by which the nominal trajectory is followed and several constraints can be observed. In order to reject disturbance and achieve good tracking performance in trajectory tracking, a finite-time trajectory tracking method is presented. Utilizing the differential flatness theory, a linear tracking error system...
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