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In this work a system for the estimation of the forces (both longitudinal and lateral) exerted between the tires and the road is presented. Starting from two of the most commonly used descriptions of the vehicle dynamics, the single-corner and the single-track models, a system composed of Sub-Optimal Second Order Sliding Mode observers in a cascade structure plus an adaptive element is developed and...
The problem of tracking a time-varying reference trajectory of a mechanical system with unilateral position constraints is addressed in this paper. We present for the first time simulation and experimental results of a recently introduced trajectory tracking controller for hybrid systems with state jumps. The controller is applied to (locally) stabilize a time-varying trajectory of a 1-DOF robotic...
The problem of determining an interaction control strategy, allowing a manipulator to reach a goal point even in the presence of unknown obstacles, is faced in this paper. To this end, on the basis of position/orientation and force measurements, first, a path planning strategy is proposed. The path planning is based on an a priori trajectory, which is determined without the prior knowledge of the...
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