Results 51 to 60 of about 2,057 (208)
On Hyperexponential Stabilization of Perturbed Unicycle Dynamics
International Journal of Robust and Nonlinear Control, Volume 36, Issue 3, Page 1477-1486, February 2026.ABSTRACT The problem of hyperexponential stabilization for a mobile robot is addressed by leveraging its kinematic model with external perturbations. To this end, a robust nonlinear control law is designed, and several state and time transformations are introduced, reformulating the system model to an interconnection of integrators.
Moussa Labbadi, Denis Efimov
wiley +1 more source
Spring-Damped Underactuated Swashplateless Rotor on a Bicopter Unmanned Aerial Vehicle
MachinesThe stabilisation capabilities of unmanned aerial vehicles (UAVs) with bicopter underactuated swashplateless rotors are highly sensitive to motor-induced vibration.
Haofei Guan, K. C. Wong
doaj +1 more source
Adaptive Auto-Berthing Control of Underactuated Vessel Based on Barrier Lyapunov Function
Journal of Marine Science and Engineering, 2022 This paper investigates the automatic berthing problem of underactuated surface vessels in the case of uncertain dynamics and yaw rate limitation, given the importance of yaw rate control and the unmeasurable hydrodynamic parameters of the vessel at low ...
Yang Liu +3 more
doaj +1 more source
Energy Shaping Control of an Inverted Flexible Pendulum Fixed to a Cart
, 2016 Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems.
Borja, Pablo +2 more
core +3 more sources
Hierarchical task control for aerial inspection [PDF]
, 2016 Trabajo presentado al Workshop and Summer School on Field Robotics (euRathlon/ARCAS), celebrado en Sevilla (España) del 15 al 18 de junio de 2014.This paper presents a task oriented control strategy for aerial vehicles equipped with a robotic arm and a ...
Andrade-Cetto, Juan +1 more
core +1 more source
On compliant underactuated robotic fingers [PDF]
, 2011 Driven by societal trends, such as aging, and by a desire to drive economic growth and enhance commercial competitiveness, researchers have tried to move robots from structured manufacturing tasks to unstructured professional and personal service applications.
openaire +2 more sources
IET Cyber-Systems and Robotics, Volume 8, Issue 1, January/December 2026.ABSTRACT Reduced‐order models (ROMs) are widely employed in biped robot control due to their computational efficiency, but their simplified representations often neglect critical nonlinear dynamics, leading to limited robustness under real‐world disturbances.
Jia Li, Yan Liu
wiley +1 more source
Characterization and Optimization of a Differential System for Underactuated Robotic Grippers
MachinesThis paper delves into the potential of an optimized differential system within an underactuated tendon-driven soft robotic gripper, a crucial component that enhances the grasping abilities by allowing fingers to secure objects adapting to different ...
Sebastiano Angelella +3 more
doaj +1 more source
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control [PDF]
, 2018 This paper presents the design and validation of controlling hopping on the 3D bipedal robot Cassie. A spring-mass model is identified from the kinematics and compliance of the robot.
Ames, Aaron, Xiong, Xiaobin
core +1 more source
Control Synthesis for an Underactuated Cable Suspended System Using Dynamic Decoupling
, 2018 This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally stabilized at a ...
Banavar, Ravi N. +2 more
core +1 more source