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A cascaded control strategy for an innovative Duocopter test stand — a helicopter with two rotors combined with a guiding mechanism — is presented in this paper. The guiding mechanism consists of a rocker arm with a sliding carriage that enforces a planar workspace of the Duocopter. The Duocopter is connected to the carriage by a rotary joint and offers 3 degrees of freedom. The derived system model...
Iterative learning control is a popular method for accurate trajectory tracking of systems that repeat the same motion many times. This paper presents a P-type iterative learning control for a fast two-degree-of-freedom parallel robot driven by two pairs of pneumatic muscle actuators. The robot consists of a light-weight closed-chain structure with four moving links connected by revolute joints. The...
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