Results 71 to 80 of about 2,057 (208)

Discrete Variational Optimal Control

, 2012
This paper develops numerical methods for optimal control of mechanical systems in the Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of optimal control problems through the discretization of variational ...
A. Iserles, A. Weinstein, A.I. Bobenko, A.M. Bloch, A.M. Bloch, D. Iglesias, David Martín de Diego, E. Hairer, E. Martínez, F. Bullo, F. Jiménez, Fernando Jiménez, I. Hussein, J. Cortés, J.C. Marrero, J.E. Marsden, J.E. Marsden, J.E. Marsden, J.E. Marsden, J.E. Marsden, M. Kobilarov, M. Kobilarov, M. Kobilarov, Marin Kobilarov, N. Bou-Rabee, R. Abraham, S. Ferraro, S. Ober-Blöbaum, T. Lee   +28 more
core   +1 more source

Ball on a beam: stabilization under saturated input control with large basin of attraction [PDF]

, 2008
This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system.
A. Luca De, A.A. Grishin, A.M. Formal’skii, A.R. Teel, Alexander Formal’skii, D.M. Gorinevsky, F. Plestan, G.A. Korn, H.K. Khalil, I. Fantoni, J. Hauser, J. Hauser, J.W. Grizzle, K.J. Astrom, M. Alimir, M.W. Spong, R. Sepulchre, R.E. Kalman, T. Hu, V.G. Boltyansky, W.J. Book, Y. Aoustin, Y. Aoustin, Y. Aoustin, Yannick Aoustin   +24 more
core   +4 more sources

Research on Independent Reference Model–Based Anti‐Interference Control for Quadrotor

Journal of Control Science and Engineering, Volume 2026, Issue 1, 2026.
The quadrotor is vulnerable to internal model parameters uncertainty and external airflow. In order to guarantee that the quadrotor tracks the reference signal quickly and smoothly under the influence of external airflow interferences and internal parameter uncertainties, an independent reference model–based anti‐interference control algorithm was ...
Jun Li, Haili Lang, Xiaotong Wu, Hongwei Liu, Deepali   +4 more
wiley   +1 more source

AI‐Based Autonomous Sailboat Navigation: A Review

Journal of Field Robotics, Volume 42, Issue 8, Page 4157-4180, December 2025.
ABSTRACT This review explores the recent advancements in AI‐driven autonomous sailboat navigation, underscoring its pivotal role in ocean monitoring and real‐time maritime data collection. Drawing on an extensive range of primary and secondary sources, the study critically evaluates current challenges, innovative control algorithms, and path planning ...
Vishali Mankina, André P. D. Araújo, Raphael Guerra, Esteban W. G. Clua, Carlo Cernicchiaro, Luiz M. G. Gonçalves, Cosimo Distante   +6 more
wiley   +1 more source

PAMPC: Perception-Aware Model Predictive Control for Quadrotors [PDF]

, 2018
We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives.
Falanga, Davide, Foehn, Philipp, Lu, Peng, Scaramuzza, Davide   +3 more
core   +1 more source

A Review on Kinematically Redundant Parallel Mechanisms With Configurable Platforms

SmartBot, Volume 1, Issue 4, December 2025.
This review systematically combs the development context and technical system of Parallel Mechanisms with Configurable Platforms (PMCPs). Furthermore, through the progressive logic of classification, analysis and application, the paper reveals how “kinematic redundancy” and “configurable platform” break through the rigid limitations of traditional ...
Chunxu Tian, Dan Zhang
wiley   +1 more source

On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands [PDF]

, 2017
The availability of grasp quality measures is fundamental for grasp planning and control, and also to drive designers in the definition and optimization of robotic hands.
Malvezzi, Monica, Pozzi, Maria, Prattichizzo, Domenico   +2 more
core   +1 more source

Prescribed‐Time Disturbance‐Observing Chainlike Filtering Approach to Double‐Sided Event‐Driven Formation Tracking of Underactuated Underwater Vehicles With Kinematic and Kinetic Disturbances

International Journal of Robust and Nonlinear Control, Volume 35, Issue 16, Page 6752-6769, 10 November 2025.
ABSTRACT This paper investigates the distributed prescribed‐time formation tracking problem for uncertain multiple six‐degree‐of‐freedom underactuated underwater vehicles operating in dynamic state and input‐triggered environments. A critical challenge lies in addressing the nondifferentiability of event‐triggered state variables during recursive ...
Hyeong Jin Kim, Sung Jin Yoo
wiley   +1 more source

Development of Multibody Marine Robots: A Review

IEEE Access, 2020
Multibody marine robots, representing a promising research and development area, have gained acute attention and response from civil and military fields.
Shuai Kang, Jiancheng Yu, Jin Zhang, Qianlong Jin   +3 more
doaj   +1 more source

Monocular visual servo control of a quadcopter for crossing windows, doors, and corridors

Asian Journal of Control, Volume 27, Issue 6, Page 2706-2723, November 2025.
Abstract This paper proposes a sequential visual servo control scheme for quadcopters, where the main goal is to drive a quadcopter to a desired pose while crossing windows, doors, or corridors using only visual feedback. This control scheme is composed of two stages that act in sequence: the approaching and pose regulation phases.
Carlos A. Toro‐Arcila, Hector M. Becerra, Gustavo Arechavaleta   +2 more
wiley   +1 more source