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This research work introduces a new method for feedback control of nonlinear dynamical systems and considers as application example the problem of trajectory tracking for autonomous robotic vehicles. The control method consists of a repetitive solution of an H-infinity control problem for the mobile robot, that makes use of a locally linearized model of the robot and takes place at each iteration...
We propose a dynamic feedback linearization of a car-like robot as a non-holonomic system with a piecewise bilinear (PB) model. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. We also apply a method for a tracking control based on PB models to the car-like robot. Although the controller is simpler than the conventional...
The present work addresses the problem of realtime predictive control of a brachiating robot. The robot is constrained (underactuated, limited torque) and a multivariable system, which implies a very difficult problem due to the large amount of on-line computation that is required. Previous works demonstrated that it is not possible to consider the nonlinear model-based MPC under real-time constraints...
Although human beings see and move slower than table tennis or baseball robots, they manage to outperform such robot systems. One important aspect of this better performance is the human movement generation. In this paper, we study trajectory generation for table tennis from a biomimetic point of view. Our focus lies on generating efficient stroke movements capable of mastering variations in the environmental...
Omnidirectional mobile robots, i.e., robots that can move in any direction without changing their orientation, offer better manoeuvrability in natural environments. Modeling the kinematics of such robots is a challenging problem and different approaches have been investigated. One of the best approaches for a nonholonomic robot is to model the robot's velocity state as the motion around its instantaneous...
This paper presents an optimal kinematic controller design based on ant colony optimization (ACO) computing method for omnidirectional mobile robots with three independent driving wheels equally spaced at 120 degrees from one another. The optimal control parameters are obtained by minimizing the performance index using the proposed ACO computing method. These optimal parameters are used in the ACO-based...
In order to support us, humanoid robots are expected to perform various tasks in our living spaces, such as offices. With regard to this purpouse, robots have to move from one room to another one autonomously. Especially in offices, robots must open heavy and spring loaded doors to pass through them. In this paper we implemented a trajectory planner for a humanoid robot to pass through a swing door...
In this paper, a combined intelligent technique is introduced for the trajectory tracking control of a nonholonomic wheeled mobile robot (WMR), which comprises an interval type-2 fuzzy kinematic control (IT2-FKC) and an interval type-2 fuzzy terminal sliding-mode dynamic control (IT2-FTSMDC). Firstly, an interval type-2 fuzzy logic controller designed for the kinematic model of the WMR is introduced,...
Robots acting in populated environments must be capable of safe but also time efficient navigation. Trying to completely avoid regions resulting from worst case predictions of the obstacle dynamics may leave no free space for a robot to move, especially in environments with high dynamic. This work presents an algorithm for a ldquosoftrdquo risk mapping of dynamic objects leaving the complete space...
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