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This paper presents an output feedback PD-type controller for the trajectory tracking control of robotic manipulators. A linear observer is used to estimate the unknown velocity signals of the nonlinear manipulator. In the first part of this paper, we propose a PD-like output-feedback control law. The Lyapunov method is used to characterize the asymptotic property of all the signals in the closed-loop...
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...
This paper presents a planned navigation control architecture of a self-balancing two-wheeled platform for autonomous service robots. Based on the linearized mathematical modeling incorporating the frictions between the wheels and the motion surface, a kinematical trajectory tracker and two adaptive controllers are designed to track speed and yaw rate commands. A human-aware trajectory generator is...
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