Results 61 to 70 of about 1,094 (182)

A Separation Principle for Underactuated Lossless Lagrangian Systems [PDF]

IEEE Transactions on Automatic Control, 2017
We study under-actuated Lagrangian systems without dissipative forces, augmented by a chain of integrators. For such systems, we solve the open problem of global tracking control via position measurements only; strictly speaking, we establish uniform global asymptotic stability for the closed loop system. As a corollary, we obtain an original statement
Sofia Avila-Becerril, Antonio Loría, Elena Panteley   +2 more
openaire   +2 more sources

Linear System Identification and Control of a Low‐Cost High‐Performance Omnidirectional Marine Surface Vehicle for Swarming Applications

Journal of Field Robotics, EarlyView.
ABSTRACT Marine operations traditionally rely on human intervention, a costly and disruptive method. Autonomous surface vehicles (ASVs) offer a powerful alternative, capable of operating autonomously, for extended periods, and with various sensors for various missions.
Ayman El Qemmah, Gianni Cario, Alessandro Casavola, Marco Lupia, Francesco Tedesco   +4 more
wiley   +1 more source

Key Technical Fields and Future Outlooks of Space Manipulators: A Survey

SmartBot, EarlyView.
This paper systematically reviews the technological development of space manipulators, emphasizing the unique challenges posed by space environments. It examines four areas: structural design, modeling, planning, and control, while introducing typical ground test platforms.
Gang Chen, Zeyuan Huang, Ying Yan, Xiaokang An, Zhikai Zhao, Jirong Lin, Xiangrong Zhao, Xianyuan Gao, Junyi Zong, Xuewen Jia, Zhipeng Yao, Jianliang Liao, Ning Ji   +12 more
wiley   +1 more source

Attitude Practical Stabilization of Underactuated Autonomous Underwater Vehicles in Vertical Plane

Journal of Marine Science and Engineering
Due to the singularity of Euler angles and the ambiguity of quaternions, to further expand the attitude reachable range of underactuated AUVs in the vertical plane, SO(3) is used to represent the attitude change of underactuated AUVs.
Yuliang Wang, Han Bao, Yiping Li, Hongbin Zhang   +3 more
doaj   +1 more source

Hard‐Magnetic Soft Millirobots in Underactuated Systems

Advanced Robotics Research, Volume 2, Issue 4, August 2026.
This review provides a comprehensive overview of hard‐magnetic soft millirobots in underactuated systems. It examines key advances in structural design, physics‐informed modeling, and control strategies, while highlighting the interplay among these domains.
Qiong Wang, Zixuan Zhang, Bingyan Li, Junkai Wang, Hongcheng Gu   +4 more
wiley   +1 more source

Higher-Order Sliding-Mode Velocity Observer-Based Exponential Stabilization of the Second-Order Chained-Form System

Applied Sciences
This work addresses the problem of globally stabilizing underactuated systems with two inputs and three degrees of freedom. Through appropriate transformations, such dynamics can be expressed as second-order nonholonomic systems in chained form.
Chih-Chen Yih, Pei-Chieh Chin
doaj   +1 more source

Towards Advanced Intelligent and Perceptive Soft Grippers

Advanced Intelligent Systems, Volume 8, Issue 8, August 2026.
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, Hayeon Shin, Seik Park, Changbeom Shim, Seonggun Joe   +4 more
wiley   +1 more source

Design‐for‐Benchmarking in Soft Robotics: Navigating Component‐System Dichotomy

Advanced Intelligent Systems, Volume 8, Issue 7, July 2026.
Soft robotics faces a profound evaluation challenge: the Component‐System Dichotomy, where isolated component tests fail to predict integrated performance. This article presents a systematic survey of critical reporting gaps across actuation, sensing, and control.
Matteo Lo Preti, Muhammad Sunny Nazeer, Josh Pinskier, David Howard, Cecilia Laschi   +4 more
wiley   +1 more source

Adaptive total energy shaping of a class of manipulators

IET Control Theory & Applications
Point‐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
doaj   +1 more source

Path Following for a Class of Underactuated Systems Using Global Parameterization

IEEE Access, 2020
A large number of both aerial and underwater mobile robots fall in the category of underactuated systems that are defined on a manifold, which is not isomorphic to Euclidean space.
Adeel Akhtar, Sajid Saleem, Steven L. Waslander   +2 more
doaj   +1 more source