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This paper suggests the idea of a universal method for stabilizing discrete-time hybrid switched-control systems of robot manipulators. The core of this idea is based on an on-line trajectory generation algorithm that is able to generate continuous command variables from any arbitrary state of motion. We define a measurable criterion to on-line detect an instability or a potential instability of the...
This paper addresses the problem of posture stabilization for a wheeled mobile robot with nonholonomic constraints. Due to the richness of mappings from sensor space to actuator signal space and the complexity of system and environment modeling, it becomes particularly difficult to select an appropriate control law for the posture stabilization problem. In this paper, we propose a novel approach based...
The control problem of coordinated motion of free-floating dual-arm space robot with external disturbance is discussed. Combined the linear momentum conversation and the Lagrangian approach, the full-controlled dynamic equations of free-floating space robot with dual-arms is established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique,...
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