The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This study presents a novel tracking control scheme for an underwater vehicle-manipulator system (UVMS) where the proposed controller is not only used to track the prescribed sub-region but also allows the use of the self-motion to perform various sub-tasks (i.e. drag minimisation, obstacle avoidance and manipulability) because of the kinematically redundant system. In the proposed control scheme,...
This paper presents an adaptive robust tracking control method for a mobile manipulator during trajectory tracking. The parameters of the mobile manipulator dynamics are updated online. The design of the controller is based on two cascaded subsystems: a minimum norm kinematic controller with command saturation, and an adaptive controller that compensates the dynamics of the mobile manipulator system...
Adaptive control problem of nonlinear systems having dynamics in parametric strict feedback form is addressed here. Effort is made to derive adaptive methodology for controller design in contraction framework. General results and conditions for stabilization are derived using backstepping. At each step of recursive design, system is made contracting by suitable selection of control inputs. As contraction...
This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the ldquoconflictrdquo between the two wheels. To effectively damp the elastic vibration caused by the flexible...
In this study, hierarchical adaptive network based fuzzy logic controller for a single flexible link robot manipulator is designed. This study is aimed to get the end of the flexible robot manipulator to desired position and terminate vibrations on arm while it moves under the action of an external driving torque. The proposed controller has two subsystems. The fast-subsystem reduces the vibration...
An adaptive neural network controller is proposed to deal with the task-space tracking problem of manipulators with kinematic and dynamic uncertainties. The orientation of manipulator is represented by the unit quaternion, which avoids singularities associated with three-parameter representation. By employing the adaptive Jacobian scheme, neural networks, and backstepping technique, the torque controller...
In this paper we propose a new control algorithm for trajectory tracking of a robotic manipulator. Our controller is designed by combining a fixed controller and an adaptive fuzzy controller for tracking a desired trajectory in the vicinity of uncertain environment and change in manipulator dynamics. The controlled system is characterized by feedforward and feedback components which can be computed...
This paper presents the compliance control of a robot manipulator under a constrained environment. The controller design proposed herein is based on the intelligence adaptive control scheme. In this design, the DFNNs (dynamic fuzzy neural networks) and PD feedback controllers control the position and the contact force of robot end-effector. The DFNNs controller is employed to compensate for environmental...
This paper presents an adaptive controller for a new type prismatic manipulator. This adaptive controller is designed with the sliding mode, by which on-line parameters estimation mechanism is implemented and the control input is determined adaptively combining the estimation mechanism. The derivative of the signal is estimated by an adaptive VS-differentiator
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.