Results 31 to 40 of about 703 (181)
ADAPTIVE WAVELETS SLIDING MODE CONTROL FOR A CLASS OF SECOND ORDER UNDERACTUATED MECHANICAL SYSTEMS
Acta Polytechnica, 2021 The control of underactuated mechanical systems (UMS) remains an attracting field where researchers can develop their control algorithms. To this date, various linear and nonlinear control techniques using classical and intelligent methods have been ...
Fares Nafa +2 more
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Partial feedback linearization of underactuated mechanical systems [PDF]
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94), 2002 In this paper we discuss the partial feedback linearization control of underactuated mechanical systems. We consider an n degree of freedom system having m actuated, or active, degrees of freedom and l=n-m unactuated, or passive, degrees of freedom.
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Control System Design of an Underactuated Dynamic Body Weight Support System Using Its Stability
Sensors, 2021 This paper discusses the stability of systems controlling patient body weight support systems which are used in gait re-education. These devices belong to the class of underactuated mechanical systems.
Grzegorz Gembalczyk +2 more
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Distributed Control of Heterogeneous Underactuated Mechanical Systems
IFAC-PapersOnLine, 2018 We show how passivity-based control by interconnection and damping assignment (IDA-PBC) can be used as a design procedure to derive distributed control laws for undirected connected networks of underactuated and fully-actuated heterogeneous mechanical systems. With or without leaders, agents are able to reach a stationary formation in the coordinate of
Valk, Laurens (author) +1 more
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Journal of Applied Mathematics, 2014 A method of solving optimal manoeuvre control of linear underactuated mechanical systems is presented. The nonintegrable constraints present in such systems are handled by adding dummy actuators and then by applying Lagrange multipliers to reduce their ...
S. Woods, W. Szyszkowski
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IEEE Open Journal of Control Systems, 2023 In this article, we propose a procedure to solve the controlled design for a class of under-actuated mechanical systems. Our proposed method can be viewed as a sub-method of the IDA-PBC or Controlled Lagrangian approaches, with a particular focus on ...
Babak Salamat +4 more
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Robust tracking control for linear vibrating mechanical systems
Revista Facultad de Ingeniería Universidad de Antioquia, 2015 A novel output feedback tracking control approach is proposed for underactuated linear mass-spring-damper vibrating mechanical systems of multiple degrees of freedom.
Francisco Beltrán-Carbajal
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From Rigid to Soft Robotic Approaches for Neuroendoscopy
Advanced Robotics Research, EarlyView.Robotic assistance has had minimal impact on deep intraventricular surgeries, where small‐scale, precision, and reduced invasiveness can contribute to improved patient outcomes. Emerging technologies in rigid, soft, and hybrid robotics are reviewed to identify the most promising mechanisms for deep brain navigation in addition to an attempt to identify
Kieran Gilday +3 more
wiley +1 more source
On Active Vibration Absorption in Motion Control of a Quadrotor UAV
Mathematics, 2022 Conventional dynamic vibration absorbers are physical control devices designed to be coupled to flexible mechanical structures to be protected against undesirable forced vibrations.
Francisco Beltran-Carbajal +5 more
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Control of underactuated mechanical systems: Observer design and position feedback stabilization [PDF]
2008 47th IEEE Conference on Decision and Control, 2008 We identify a class of mechanical systems for which a globally exponentially stable reduced order observer can be designed. The class is characterized by (the solvability of) a set of partial differential equations and contains all systems that can be rendered linear in (the unmeasurable) momenta via a (partial) change of coordinates.
Venkatraman, A. +3 more
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