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This research aims at the control of the inverted pendulum attached on the top plate of a mobile robot. Especially, when the mobile robot is climbing up the hill, the stable control of the inverted pendulum is a challenging problem. Considering the gravity of the pendulum according to the inclined angle, the mobile robot motion is controlled to keep the inverted pendulum upright while the mobile robot...
The following topics are dealt with: dynamic optimization; modern printing systems control; sliding mode control; nonlinear systems stability; networked process systems control; distributed process systems control; vibration suppression; fault detection; iterative learning control; nanopositioning systems control; SPM systems control; biological systems; optimal control; computational methods; vehicle...
One main problem in multi-robot systems is the coordinated navigation of the autonomous robots. Hereby, the robots have to fulfill their respective tasks while avoiding collisions with other moving robots. In addition, problem-specific differential constraints like limitations of the velocities and accelerations have to be considered. Coordinated navigation of such a multi-robot system therefore has...
This paper presents a novel approach which generates running gaits for a bipedal robot model. Inspired by human running, we assume that the flight phase is nearly-passive. Thus, the initial and final joint velocities follow from a static optimization procedure, provided that the boundary joint angles have been picked in advance. Dynamic optimization then produces the two running phases, with a simple...
The optimization algorithm of nonlinear controller based on cubic Bezier curve is presented. The nonholonomic mobile robot is stabilized to a desired pose, and the real-time planning and motion control is realized at the same time curvaturepsilas changing minimization is introduced to evaluate the Bezier curve. Using the penalty function method the problem of nonlinear constrained optimization is...
A new decoupling algorithm is developed to decouple and linearize the nonlinear magnetic suspension system based on current optimization and feedback linearization. Golden section method is applied in the current optimal algorithm to search for the idea current of each coil. In order to control the control voltage on each coil to track the idea current as quickly as possible, 3-step current algorithm...
In this paper we present a comparative study of two actuation schemes for underactuated brachiation robots, using the nonlinear model based predictive control (MPC) technique to the motion control. The actuation schemes are based on two underactuated robots, the Acrobot and the Pendubot, both with 2 links. However, in this work a robot with 3 links, i.e., two arms and a body, is used. We adopt the...
In bipedal walking, a trajectory is acceptable as long as it is repetitive and allows the foot to clear the ground, while allowing the biped to move forward. Since the actual trajectory followed by a biped is not as important, a biped having more than one passive joints can also meet the motion requirements. Due to physical constraints, a biped is under-actuated at the ground contact with the feet...
This paper studies the kinematics optimization of redundant manipulators. Based on the relationship between self-motion variable and Jacobian null-space vector, a new method for choosing self-motion variable of redundant manipulators is proposed; Using linearization, a unified formulation of kinematics performance criterion is introduced and its analytical form in terms of self-motion variable is...
Reference trajectories for a cyclic walking gait of a five-link biped without feet are designed by optimization. These reference trajectories are polynomial functions using the absolute orientation of the virtual stance leg which is quite difficult to measure. Then a high gain observer coupled with a nonlinear control law is designed to estimate this absolute orientation of the virtual stance leg
A robot exploring an environment can estimate its own motion and the relative positions of features in the environment. Simultaneous localization and mapping (SLAM) algorithms attempt to fuse these estimates to produce a map and a robot trajectory. The constraints are generally non-linear, thus SLAM can be viewed as a non-linear optimization problem. The optimization can be difficult, due to poor...
A technique for real time path planning of under-actuated robots is developed. The real time path-planning problem is posed as a finite time nonlinear control problem, which is solved in parallel with an optimization technique in the real time. A new controller that is called the Fault Tolerant Motion controller (FTM) is developed. Also a new measure that we called the Reliability Index (RI) is proposed...
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