Results 1 to 10 of about 1,075 (163)
Stabilization of a Class of Underactuated Nonlinear Systems via Underactuated Back-Stepping [PDF]
IEEE Transactions on Automatic Control, 2021 The stabilization problem for a class of nonlinear systems is solved via a novel method inspired by back-stepping. The method, that we call underactuated back-stepping, is introduced by solving the stabilization problem for an inertia wheel pendulum and it is then developed for a class of underactuated mechanical systems.
Jingjing Jiang, Alessandro Astolfi
exaly +4 more sources
Smooth super-twisting sliding mode control for the class of underactuated systems. [PDF]
PLoS ONE, 2018 In this article, Smooth Super-twisting Sliding Mode Control (SSTWSMC) is investigated for the class of underactuated system. In underactuated systems, the control design is not directly applicable as for other systems (known as fully actuated systems ...
Sami Ud Din +2 more
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Dynamics and control of a class of underactuated mechanical systems [PDF]
IEEE Transactions on Automatic Control, 1999 Summary: This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is ...
Ilya Kolmanovsky +2 more
exaly +4 more sources
Modeling and simulation of an underactuated system [PDF]
MATEC Web of Conferences, 2019 One of the most active research areas in mechatronic systems is the control of mechanical systems controlled by electronic systems using computer programs. These programs execute algorithms called control laws.
Nader K., Sarsri D.
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A survey of underactuated mechanical systems [PDF]
IET Control Theory and Applications, 2013 An underactuated mechanical system (UMS) is a system which has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research because of its diverse engineering applications.
Hongnian Yu
exaly +3 more sources
On vibration suppression of a tendon-driven soft robotic neck for the social robot HARU [PDF]
Frontiers in Robotics and AITendon-driven continuum actuators (TDCAs) provide compliant and lifelike motion that is well suited for human–robot interaction, but their structural compliance and underactuation make them susceptible to undesired vibrations, particularly along ...
Seshagopalan Thorapalli Muralidharan +2 more
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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
doaj +1 more source
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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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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Aerospace, 2022 Automated fiber placement (AFP) systems accommodate complex-shaped structures by pressing fibers against the non-planar surfaces of mandrels, in which compaction mechanisms are of crucial significance.
Fei Liu +5 more
doaj +1 more source