Results 21 to 30 of about 703 (181)
Optimal control of underactuated nonholonomic mechanical systems
2006 American Control Conference, 2006 In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the system from an initial to a terminal state. We consider systems evolving on general manifolds.
Islam I. Hussein, Anthony M. Bloch
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Sliding mode control design for stabilization of underactuated mechanical systems
Advances in Mechanical Engineering, 2019 Stabilization of underactuated mechanical systems is one of the fundamental benchmark problem in the field of control theory. In this article, a hierarchical sliding mode control based on state-dependent switching gain is proposed for stabilization of ...
Muhammad Idrees +2 more
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Modeling Dry Friction in Multibody Mechanical Systems and Its Applications to the Underactuated Control of an Overhead Crane-Payload System [PDF]
Journal of Applied and Computational MechanicsThis paper presents a comprehensive analysis of dry friction modeling for conducting reliable computer simulations in the MATLAB and SIMULINK environments.
Rosario La Regina +3 more
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Control of Flexible Robot by Harmonic Functions
Applied Sciences, 2022 This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated into
Zdeněk Neusser +2 more
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Optimal control of underactuated mechanical systems: A geometric approach [PDF]
Journal of Mathematical Physics, 2010 In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order constraints. We study a regular case where it is possible to establish a symplectic framework and, as a consequence ...
Colombo, Leonardo +2 more
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Aerospace, 2022 Steering large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized approach.
Babak Salamat, Gerhard Elsbacher
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Actuators, 2023 In this paper, an adaptive technology and the interconnection and damping assignment passivity-based control method are combined to solve the stabilization problem for underactuated mechanical systems with uncertainties (including matched and unmatched).
Xiaoping Liu +6 more
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LESO-Based Nonlinear Continuous Robust Stabilization Control of Underactuated TORA Systems
Actuators, 2022 In this paper, we consider the robust stabilization control problem of underactuated translational oscillator with a rotating actuator (TORA) system in the presence of unknown matched disturbances by employing continuous control inputs.
Yihao Wang +4 more
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Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot
Machines, 2019 In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed.
Carmine Maria Pappalardo +1 more
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A Dynamic Motion Tracking Control Approach for a Quadrotor Aerial Mechanical System
Shock and Vibration, 2020 This paper deals with the reference trajectory tracking problem and simultaneous active disturbance suppression on a class of controlled aerial mechanical systems by processing measurable output signals.
Hugo Yañez-Badillo +5 more
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