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This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking in its workspace. With the purpose to proof...
This paper presents a nonsingular terminal sliding mode control using fuzzy wavelet networks for trajectory tracking and stabilization of a Mecanum wheeled omnidirectional vehicle (MWOV). A dynamic model of the vehicle including static friction is constructed; on the basis of the model, a nonsingular terminal sliding mode control is proposed to achieve trajectory tracking and stabilization. Fuzzy...
This paper presents a backstepping sliding-mode motion control method for trajectory tracking and stabilization of a self-balancing two-wheeled robot (SBTWR). A decoupling method is proposed to decouple the robot's dynamic model such that the motion controller can be synthesized in both kinematic and dynamic levels. In the kinematic level, two virtual controls for trajectory tracking and stabilization...
This paper proposes novel formation maintenance strategies for multiple nonholonomic mobile robots based on nonholonomic trajectory tracking techniques and dynamic feedback linearization. It also presents experimental results for formation stability and noise tolerance of the proposed and existing leader-follower based controllers using physical P3AT robots. The research focusses only on the problem...
In this paper, motion control and stabilization of a 4-wheel skid-steering mobile robot (4WSSMR) are studied. A ratio controller which has been successfully applied in the chemical industry is designed to limit the vehicle lateral skid. Motion stability is guaranteed by generating an appropriate steering action (driving bias in left and right wheels) according to the states of the vehicle. A model...
We present a methodology to steer the end effector of a robotic manipulator, which is constrained in terms of joint rates, on the surface within the workspace, to perform surface tasks. We develop smooth controllers for stabilizing the end effector to a point, and for tracking a trajectory on this surface, while respecting the input constraints, and the same time applying a specific force on it. We...
This paper develops methodologies and techniques for motion control and autonomous navigation of a tour-guide robot with a four-wheeled omni-directional mobile platform. A nonlinear unified kinematical control method is presented for point stabilization and trajectory tracking of a mobile robot which equipped with four independent driving omni-directional wheels equally spaced at 90 degrees between...
In this work, a globally stabilizing bounded controller for the trajectory tracking of robot manipulators with saturating inputs is proposed. It may be seen as an extension of the so-called PD+ algorithm to the bounded input case. With respect to previous works, our approach gives a global solution to the problem through a static controller. Moreover, it is not defined using a specific sigmoidal function,...
A novel output feedback strategy is presented for the berthing control of underactuated surface ships with nonintegrable acceleration constraint. Saturations on actuators, systemic uncertainties and drift caused by current or wind are considered. The problems of trajectory planning and tracking are circumvented by means of iterative nonlinear sliding mode control (INSMC) method. The sliding modes...
In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace, and at the same time the manipulator can apply a force to the object, through its end-effector. Three typical tasks are considered, namely stabilization of the end effector over the object's surface and applying a specific force on it, motion planning and eventually...
Control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entail new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75times75times150mm...
The paper proposes a model based adaptive control algorithm to control the ball and beam system with unknown parameters. The algorithm is based on an error metric which combines the trajectory tracking of the ball and the stabilization of the beam. The proposed adaptive control algorithm is improved in such a way to avoid the singularity problem which can arise in nonlinear adaptive control systems...
This study deals with some essential control problems of a vertical take-off and landing aircraft. In the first part of this paper we present a simple control strategy for state-to-state control. The resulting motion planning procedure for the nonlinear under-actuated system is in fact simple and based on the solution of a linear algebraic equation. Having established an open loop control strategy...
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