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In this paper the problem of predefined-time exact tracking of fully actuated and unperturbed mechanical systems is solved by means of a continuous controller. It is assumed the availability of the state and the desired trajectory as well as its two first derivatives. This is accomplished introducing the idea of second-order predefined-time stable systems, which is based on the nested application...
In this paper, a backstepping controller is presented for the tracking control of work platform of folding-boom aerial platform vehicle. The control objective is to suppress the vibration and drive the work platform to follow a desired reference trajectory. According to the Lyapunov stability theorem, the derived control law guarantees that the trajectory tracking system is exponentially asymptotically...
This paper describes a new control method for pushing operation by mobile manipulator. The mobile manipulator can perform many tasks because it has mobility of the mobile platform and manipulability of the multijoint arms. Therefore, it is very effective for tasks in human environment. Using this advantage of the mobile manipulator, this paper aims at pushing operation in human environment. In pushing...
The modeling and control of a horizontally slewing inextensible Timoshenko-beam including the correct centrifugal stiffening effect and a tip payload are considered. Partial differential equations of motion and orthogonality conditions for the constrained modes are derived. A finite dimensional dynamic model simplified by using the orthogonality conditions is obtained. This nonlinear dynamic model...
On-line computer control with high speed and accuracy is needed in industrial robotics. Thus, discrete-time controller design for robotic manipulators is necessary. In this paper, the two continuous-time model reference adaptive control schemes presented in [1] are put forth in discrete forms. The stability analysis is stemmed from the Lyapunov's Direct Method [2]. It guarantees the asymptotic stability...
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