Results 21 to 30 of about 1,954 (184)
Toward Robotic Sensing and Swimming in Granular Environments using Underactuated Appendages
Advanced Intelligent Systems, 2023 Granular environments, such as sand, are one of the most challenging substrates for robots to move within due to large depth‐dependent forces, unpredictable fluid/solid resistance forces, and limited sensing capabilities. An untethered robot is presented,
Shivam Chopra +4 more
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IEEE Access, 2023 Designing a controller for the cooperative transport of a payload using quadcopter-type unmanned aerial vehicles (UAVs) is a very challenging task in control theory because these vehicles are underactuated mechanical systems.
Luis F. Canaza Ccari +1 more
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Position tracking of underactuated vehicles [PDF]
Proceedings of the 2003 American Control Conference, 2003., 2004 This paper addresses the problem of position tracking for underactuated autonomous vehicles moving in either two or three-dimensional space. A nonlinear tracking controller is proposed for a general class of vehicles that yields global stability and exponential convergence of the position tracking error to a neighborhood of the origin that can be made ...
António Pedro Aguiar +1 more
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Axioms, 2021 The number of actuators of an underactuated robot is less than its degree of freedom. In other words, underactuated robots can be designed with fewer actuators than fully actuated ones.
Mingcong Deng, Shotaro Kubota
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Motion tracking of a rigid-flexible link robotic system in an underactuated control mode [PDF]
Bulletin of the Polish Academy of Sciences: Technical Sciences, 2023 The paper presents its contribution to tracking control design of mechanical systems in underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs.
Elżbieta Jarzębowska +2 more
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Trackability filtering for underactuated systems [PDF]
2008 American Control Conference, 2008 Underactuated systems are commonplace and present a challenge in designing tracking controllers. Foremost among these are vehicles, like passenger cars and aircraft. Such systems with more outputs than control inputs are not right invertible. As a result continuous control laws cannot, in general, be designed to track arbitrary reference signals.
Eric E. Sandoz +2 more
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Design an Adaptive Sliding Mode Controller for a Class of Underactuated Systems [PDF]
International Journal of Advanced Design and Manufacturing Technology, 2021 The majority of underactuated systems are nonholonomic, due to non-integrable differential constraints. Therefore, controlling an underactuated system is considered as a challenging problem.
Hossein Moeinkhah +1 more
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A Force-Isotropic Underactuated Finger [PDF]
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2006 This paper presents the design of a new underactuated finger. The main characteristic of this twodegree- of-freedom / one-actuator finger is to be force-isotropic. This means that the intensity of the forces exerted at the center of each phalanx, on the grasped object, are identical.
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A Review on Underactuated Attitude Control of Reaction Wheel Actuated Satellites [PDF]
فصلنامه علوم و فناوری فضاییThe attitude determination and control subsystem is a vital satellite subsystem that provides maneuvering and pointing. According to statistics, more than half of the launched small satellites use the reaction wheel as the principal executive mechanism ...
Mohammad Zarourati +2 more
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Shanghai Jiaotong Daxue xuebaoAiming at the problem of abnormal operation of three-phase voltage-type pulse width modulation (PWM) rectifier caused by factors such as voltage transformation and external disturbances, a control strategy is proposed that integrates active disturbance ...
HUANG Zixin, YU Chengsong, WANG Wei, LIN Mengying, XU Da
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