Results 11 to 20 of about 703 (181)
IEEE Access, 2022 Controlling the network of underactuated Euler–Lagrange (EL) systems is challenging because of their coupled inertia matrices and time-variant control input matrices. We present generalized multi-coordinates transformation that renders the network
Babak Salamat, Gerhard Elsbacher
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Analysis of servo-constraint problems for underactuated multibody systems [PDF]
Mechanical Sciences, 2013 Underactuated multibody systems have fewer control inputs than degrees of freedom. In trajectory tracking control of such systems an accurate and efficient feedforward control is often necessary.
R. Seifried, W. Blajer
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Complexity, 2023 Underactuated mechanical systems offer complex dynamic behavior and poses control challenges, especially in the presence of uncertainties in the system. To cope with such systems, control mechanisms are required, which needs to be robust.
Ibrahim Shah +6 more
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Cooperative Passivity-Based Control of Nonlinear Mechanical Systems
Robotics, 2023 In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different types ...
Oscar de Groot +2 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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Experimental control of a flexible link by the method of Controlled Lagrangian [PDF]
Journal of Theoretical and Applied Vibration and Acoustics, 2018 The Controlled Lagrangian method is a branch of energy shaping methods that is designed to control underactuated mechanical systems. The method employs the mechanical energy (kinetic energy plus potential energy) of an artificial Lagrangian system, that ...
Massoud Hemmasian Ettefagh +2 more
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Adaptive Sliding Mode Based Stabilization Control for the Class of Underactuated Mechanical Systems
IEEE Access, 2021 This article presents a simple stabilizing control algorithm for a class of underactuated mechanical systems for two degrees of freedom (2DoF). In this respect, the adaptive sliding mode based strategy is proposed for the considered class. The controller,
Fazal Ur Rehman +4 more
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Robotics, 2022 Bionic hands have been employed in a wide range of applications, including prosthetics, robotic grasping, and human–robot interaction. However, considering the underactuated and nonlinear characteristics, as well as the mechanical structure’s backlash ...
Junling Fu +6 more
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Quasivelocities and Optimal Control for underactuated Mechanical Systems [PDF]
AIP Conference Proceedings, 2010 8 ...
L. Colombo +5 more
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Drones, 2022 The control of an aerial flexible joint robot (FJR) manipulator system with underactuation is a difficult task due to unavoidable factors, including, coupling, underactuation, nonlinearities, unmodeled uncertainties, and unpredictable external ...
Kamal Rsetam +4 more
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