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This paper proposes a novel Iterative Learning Control (ILC) framework for spatial tracking. Spatial tracking means that the temporal component is not fixed which violates the standing assumption on time intervals in traditional ILC. The proposed framework allows for the length of the time interval to change with each iteration. To relate the spatial information from the past to the present iteration,...
In this paper, we consider the problem of simultaneously synthesizing desired trajectories for both the center of mass (CoM) and zero moment point (ZMP) of a bipedal robot. The approach extends our past work, in which we derived an explicit constraint that ensures boundedness of CoM trajectories for a given reference ZMP trajectory. We parameterize the desired ZMP trajectory by a sequence of basis...
This paper proposes a control algorithm to solve multiple quadrotor formation problem in a leader-follower configuration. A combination of sliding mode control (SMC) and linear quadratic regulator (LQR) are used for trajectory tracking control of a single robot. Position control, which acts as the outer loop is controlled by LQR for providing the reference attitude angles for the inner loop. SMC used...
System modeling and simulation are widely used in robotic vehicle engineering to reduce development time, improve the vehicle design, and miniaturize complex systems. This paper focuses on the steering control of a four-wheel steering vehicle. Optimally-tuned PID controllers are designed for autonomous ground vehicles. The required mission path and stability of steering are achieved by reducing the...
After the big curvature complex curved surface partition, for the spray trajectory optimization on spherical surface. Based on the existing 2D model of spray tool, the spray tool 3D model was deduced on spherical surface. Combined with the bounding box method, a generated method of spray tool trajectory was given. Use the methods of adjust spray radius and trajectory partition to discuss the calculational...
This paper proposes a new actuator system using a movable pulley for a bio-mimetic system and wearable robot applications, which is able to store energy in advance and to release it in such a way to satisfy desired speed and force control performances, simultaneously. Since new actuator system consists of two motors (dual-motors), a movable pulley, and series spring connection for high speed/force...
This paper proposes an optimal obstacle avoidance and trajectory tracking method based on data-driven control algorithm. While an agent avoids obstacles, researchers always consider how to avoid the obstacles, but not consider how to avoid the obstacles in the minimum time, and how to achieve the optimal avoidance control. The major of the paper is to utilize the data-driven control method to design...
This paper presents results related to the multiagent formation control problem. Symmetries in the system are exploited to simplify the stability analysis and control synthesis problem for symmetric systems. The type of symmetry considered is a discrete symmetry where individual agents are either identical or have dynamics that are diffeomorphically related. These results are applicable to both distributed...
In this paper, we present the use of complementarity-based dynamic simulation algorithms for kinodynamic motion planning. Dynamic simulation algorithms are used as local planning methods in sampling-based motion planning algorithms to find inputs that ensure the resulting trajectory satisfies the dynamics constraints. However, the inputs are not guaranteed to give collision-free path segments. The...
This paper proposes a new method of modeling and simulation of a new 2 DOF parallel mechanism based on Matlab/SimMechanics. We also design a controller under the environment of Simulink and SimMechanics to satisfy the performance requirement for making the end-effector track of the reference trajectory. Simulation results and performance of the control system are presented in detail. The test results...
The main problem of sliding mode controllers is that a whole knowledge system parameters is required to compute the equivalent control. Neural networks are used to compute the equivalent control. Standard two layer feedforward neural network training with the backpropagation algorithm and Radial Basis Function Neural Networks (RBFNN) are the most popular methods that used on robot control. This paper...
This paper deals with the stealth target-interception problem based on the active prediction planning execution (APPE) strategy. In order to cope with the evasive feature of the invader, we make the robot move stealthily by hiding behind obstacles. We adopt a roadmap-based decoupled approach, which plans the path and the trajectory separately by developing new concept; the detection map. Simulation...
This paper presents the ground work prepared for turning a bucket wheel reclaimer (BWR) into a robotic arm for operation automation. BWR has been widely used in dealing with bulk materials by removing them from the conveyor and stack them as well as to load stacked materials onto the in-feed conveyor, such as in mining industry. Generally speaking, current BWRs are manually operated, remotely operated,...
This paper presents a method for controlling formations of mobile robots. In particular, the problem of maintaining so-called ??persistent formations?? while moving the formation from one location to another is defined and investigated. A method for accomplishing such persistent formation motions is presented, and the method is demonstrated in simulation and with a prototype network of robots.
This paper presents the problem of trajectory tracking control for the nonholonomic six-wheeled mobile robot. Based on backstepping control algorithm, a switch function for quasi-sliding mode control is designed and a quasi-sliding mode controller with global asymptotically stability is proposed for the kinematic model. This method simplifies the controller design and is applicable to the trajectory...
A novel control strategy based on passivity theory was proposed with special attention to trajectory tracking and robust control of rigid robot. In this paper, robot model was divided into nominal model and uncertainty part. Based on the backstepping approach, feedback passivity was used to design controller for the nominal model. A variable structure concentrated compensation controller was adopted...
In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation...
In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (ionic conducting polymer film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation...
This article presents the hardware-in-the-loop simulation of an impedance control applied to a virtual robot acting on a stiff environment. A test bench, which is composed of a direct-drive manipulator and a stiff environment, is used as the hardware part. A hardware-in-the-loop controller is used to command the manipulator so that it reproduces the virtual robot dynamics. Hence, the latter virtually...
The purpose of this paper is to propose adaptive fuzzy sliding mode control (SMC) based on radial basis function neural network (RBFNN) for trajectory tracking problem of three link robot manipulator. A RBFNN is used to compute the equivalent control of sliding mode control. A Lyapunov function is selected for the design of the SMC and an adaptive algorithm is used for weight adaptation of the RBFNN...
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