Results 11 to 20 of about 1,094 (182)
Trackability filtering for underactuated systems [PDF]
2008 American Control Conference, 2008 Underactuated systems are commonplace and present a challenge in designing tracking controllers. Foremost among these are vehicles, like passenger cars and aircraft. Such systems with more outputs than control inputs are not right invertible. As a result continuous control laws cannot, in general, be designed to track arbitrary reference signals.
Eric E. Sandoz +2 more
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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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An intelligent controller for underactuated mechanical systems
CoRR, 2022 References added. This is a slightly expanded version of the work originally presented at DINAME 2017 - 17th International Symposium on Dynamic Problems of Mechanics, 2017, S\~ao Sebasti\~ao ...
Josiane Maria de Macedo Fernandes +3 more
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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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Nonlinear control of a class of underactuated systems [PDF]
Proceedings of 35th IEEE Conference on Decision and Control, 2002 A theoretical framework is established for the dynamics and control of underactuated systems, defined as systems which have fewer inputs than degrees of freedom. Control system formulation of underactuated systems is addressed and the class of second-order nonholonomic systems is identified.
Reyhanoglu, M. +3 more
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Machines, 2021 Hydraulic lower limb exoskeletons are wearable robotic systems, which can help people carry heavy loads. Recently, underactuated exoskeletons with some passive joints have been developed in large numbers for the purpose of decreasing the weight and ...
Shan Chen +6 more
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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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A Review on Underactuated Attitude Control of Reaction Wheel Actuated Satellites [PDF]
فصلنامه علوم و فناوری فضاییThe attitude determination and control subsystem is a vital satellite subsystem that provides maneuvering and pointing. According to statistics, more than half of the launched small satellites use the reaction wheel as the principal executive mechanism ...
Mohammad Zarourati +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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Passivation of underactuated systems with physical damping [PDF]
IFAC Proceedings Volumes, 2004 In recent works, Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) has been succesfully applied to mechanical control problems with no physical damping present. In some cases, the friction terms can be obviated without compromising stability in closed loop.
Gomez-Estern, F +2 more
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