Results 21 to 30 of about 1,094 (182)
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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Cooperative Passivity-Based Control of Nonlinear Mechanical Systems
Robotics, 2023 In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different types ...
Oscar de Groot +2 more
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Dynamic Modeling and Simulation of an Underactuated System
Journal of Physics: Conference Series, 2017 In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in SOLIDWORKS 3D CAD software, which based on the material and dimensions of the model provides some physical variables ...
Juan Libardo Duarte Madrid +2 more
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Mathematics, 2021 In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems.
Thaned Rojsiraphisal +5 more
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A Time Optimal Trajectory Planning Method for Double-Pendulum Crane Systems With Obstacle Avoidance
IEEE Access, 2021 For a crane system, when the payload is too large to be seen as a mass point, or the hook mass cannot be directly ignored, it performs more like a double-pendulum crane system, instead of a single-pendulum crane system.
Wa Zhang +3 more
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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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Q-Learning with the Variable Box Method: A Case Study to Land a Solid Rocket
Machines, 2023 Some critical tasks require refined actions near the target, for instance, steering a car in a crowded parking lot or landing a rocket. These tasks are critical because failure to comply with the constraints near the target may lead to a fatal ...
Alejandro Tevera-Ruiz +3 more
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Symbolic control for underactuated differentially flat systems [PDF]
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006 In this paper we address the problem of generating input plans to steer complex dynamical systems in an obstacle-free environment. Plans considered admit a finite description length and are constructed by words on an alphabet of input symbols, which could be e.g.
Adriano Fagiolini +4 more
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Model-Free All-Source-All-Destination Learning as a Model for Biological Reactive Control [PDF]
Modeling, Identification and Control, 2021 We present here a model-free method for learning actions that lead to an all-source-all-destination shortest path solution. We motivate our approach in the context of biological learning for reactive control.
Martinius Knudsen +3 more
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Machines, 2022 This paper presents a systematic procedure for the control scheme design for a PVTOL aircraft system with an inverted pendular load, which is a nonlinear underactuated system.
Cesar Alejandro Villaseñor Rios +5 more
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