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Crane systems used during offshore installations in harsh sea conditions must satisfy rigorous requirements in terms of safety and efficiency. The vertical vessel motion which is due to ocean waves excites dynamic forces which have an extensive effect on the overall crane structure and its lifetime. Furthermore, the operator gets handicapped during fine positioning of the payload. Thus, compensation...
In this paper, an artificial neural network (ANN) based control scheme is introduced for the inverted pendulum motion and posture control problem. The adaptive control strategy consists of a Lyapunov stability-based online weights adaptation that provides asymptotic tracking while learning the nonlinear inverted pendulum system's dynamics. Unlike other control strategies, no a priori offline training,...
A control law is proposed that achieves predefined performance indices regarding the speed of response, the steady state and the allowed overshoot of the robot force/position tracking errors, ensuring no loss of contact of the robot end effector. The controller incorporates a transformed error, which includes the performance indices. The control objective is satisfied under parametric uncertainties...
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional...
Previous efforts in bilateral time-delay teleoperation have mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. This paper proposes a provably stable adaptive predictive controller for teleoperation systems with communication delay. The method uses the model and delay information and can adapt to uncertainties in user and environment dynamics in order...
Dynamic friction and force ripple are the most important factors that affect the positioning accuracy of ship-borne gun servo system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a dual-observer is used to observe the unknown state of friction model, then a dynamic compensation approach employing adaptive...
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