Results 31 to 40 of about 1,094 (182)
Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System
IEEE Access, 2021 In this article, an Extended State Observer (ESO) based Active Disturbance Rejection Control (ADRC) scheme is applied to the Pendubot system for a trajectory tracking tasks.
Mario Ramirez-Neria +4 more
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Model-free Control of Partially Observable Underactuated Systems by pairing Reinforcement Learning with Delay Embeddings [PDF]
Modeling, Identification and Control, 2022 Partial observability is a problem in control design where the measured states are insufficient in describing the systems trajectory. Interesting real-world systems often exhibit nonlinear behavior and noisy, continuous-valued states that are poorly ...
Martinius Knudsen +3 more
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Control of nonlinear underactuated systems [PDF]
Communications on Pure and Applied Mathematics, 2000 In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional family. These control laws each come with a natural Lyapunov function. The inverted pendulum cart is used as an example.
Auckly, David +2 more
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A Survey of Planar Underactuated Mechanical System
MachinesPlanar underactuated mechanical systems have been a popular research issue in the area of mechanical systems and nonlinear control. This paper reviews the current research status of control methods for a class of planar underactuated manipulator (PUM ...
Zixin Huang +4 more
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Modeling Dry Friction in Multibody Mechanical Systems and Its Applications to the Underactuated Control of an Overhead Crane-Payload System [PDF]
Journal of Applied and Computational MechanicsThis paper presents a comprehensive analysis of dry friction modeling for conducting reliable computer simulations in the MATLAB and SIMULINK environments.
Rosario La Regina +3 more
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Sub-Optimal Stabilizers of the Pendubot Using Various State Space Representations
Energies, 2022 This paper considers the issue of linear-quadratic regulator (LQR) design for nonlinear systems with the use of smooth state and input transformations.
Dariusz Pazderski +3 more
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MachinesUnderactuated systems, such as the Cart–Pole and Acrobot, pose significant control challenges due to their inherent nonlinearity and limited actuation. Traditional control methods often struggle to achieve stable and optimal performance in these complex ...
Yi-Jen Mon
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A Review on the Control of Second Order Underactuated Mechanical Systems
Complexity, 2018 This paper describes some important classes of two degrees of freedom of underactuated mechanical system and also surveys review of the recent state-of-the-art concerning the mathematical modeling of these systems, their classification, and all the ...
Soukaina Krafes +2 more
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Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots
Applied Sciences, 2023 Underactuated robots have fewer actuators than degrees of freedom (DOF). Nonactuated joints can be equipped with torsional springs. Underactuated robots can be controlled in a point-to-point motion if they have a particular mass distribution that makes ...
Michele Tonan +3 more
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Optimal control of underactuated nonholonomic mechanical systems
2006 American Control Conference, 2006 In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the system from an initial to a terminal state. We consider systems evolving on general manifolds.
Islam I. Hussein, Anthony M. Bloch
openaire +2 more sources