Results 51 to 60 of about 703 (181)
IEEE Access, 2019 This paper is concerned with the issue of nonlinear dynamic surface control for an underactuated translational oscillator with a rotating actuator (TORA).
Weiping Guo, Diantong Liu
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Applied Sciences, 2020 Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a goal to add to them some ...
Daniel Feliu-Talegon +3 more
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Model dan Kendali Modular pada Pendulum Terbalik tipe Rotary
Jurnal Rekayasa Elektrika, 2023 Rotary Inverted Pendulum (RIP) is a physical system that is often used as a theoretical platform and application of non-linear, unstable, and underactuated control systems so that it poses a challenge to design controls and realize them.
Erwin Susanto
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Towards Advanced Intelligent and Perceptive Soft Grippers
Advanced Intelligent Systems, EarlyView.Implementing soft yet strong and intelligent soft grippers request innovative and creative solutions in designing soft bodies and seamlessly integrating actuated systems with hierarchical sensing. This review systematically analyses soft grippers with a deep understanding of core components, from fundamental design principles to actuation and sensing ...
Haneul Kim +4 more
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Advanced Intelligent Systems, EarlyView.A quadrupedal integrated leg‐arm robot with an underactuated reconfigurable body is developed. By using a Sarrus mechanism as the body, the robot enables reconfiguration through its supporting limbs, achieving mode switching without additional actuators.
Xinghan Zhuang +8 more
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Gain-Scheduled Model Predictive Control for Cart–Inverted-Pendulum with Friction and Disturbances
Applied Sciences, 2023 The cart–inverted pendulum system (CIPS) is a typical example of underactuated mechanical systems. For the CIPS with friction and disturbances, a gain-scheduled model predictive control method is proposed to achieve the upright stabilization objective of
Jue He +3 more
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Inertial‐Based LQG Control: A New Look at Inverted‐Pendulum Stabilization
International Journal of Mechanical System Dynamics, EarlyView.ABSTRACT Linear‐quadratic Gaussian (LQG) control is a well‐established method for optimal control through state estimation, particularly in stabilizing an inverted pendulum on a cart. In standard laboratory setups, sensor redundancy enables direct measurement of configuration variables using displacement sensors and rotary encoders. However, in outdoor
Daniel Engelsman, Itzik Klein
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Adaptive total energy shaping of a class of manipulators
IET Control Theory & ApplicationsPoint‐to‐point control of underactuated mechanical systems is a challenging problem, especially if some of the system's parameters are uncertain. A popular method to stabilize underactuated manipulators is total energy shaping, in which a new Hamiltonian
M. Reza J. Harandi, Hamid D. Taghirad
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Damping of Oscillations of a Rotary Pendulum System
Applied Sciences, 2023 This paper describes an innovative design based on the spectral approach of a novel shaper that eliminates frequency components that induce unwanted residual oscillations in various flexible mechanical systems, such as tower cranes or chain carousels ...
Adam Gavula +2 more
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International Journal of Mechanical System Dynamics, EarlyView.ABSTRACT This paper proposes a hybrid control strategy for flexible‐link manipulators that combines offline trajectory planning with adaptive tracking to suppress residual elastic vibration (REV) under unknown bounded disturbances. A rigid–flexible coupling dynamics model is first established using the floating‐frame method and Lagrange's equations ...
Mingming Shi +5 more
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