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This paper proposes a new task coordinate frame (TCF) for contouring control of biaxial systems. Existing task coordinate frames are only locally defined based on the desired contouring trajectory to be tracked and the calculated contour error is an approximation to the actual contour error only. As such, they are applicable to contouring tasks with small curvature and little actual trajectory tracking...
Aerial recovery of micro air vehicles (MAVs) presents a challenging problem in multi-vehicle dynamics and control. This paper presents a method for recovering MAVs in flight using a mothership and towed drogue, in which the mothership executes an orbit that places the drogue in a stable, slower orbit that can be tracked by a MAV. The differential flatness property of the system is exploited to calculate...
A mobile manipulator service robot comprising a mobile platform with a three-link arm mounted on top of the platform is considered. A torque compensation control approach is proposed for the robust motion control of the robot. Considering the coupling disturbance between the platform and the manipulator, the nominal model of service robot is built, applying computed torque and proportion-differential...
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