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Robust control of passive-jointed robot and experimental validation using sliding mode

Paul I. Ro, Chih-Chen Yih
1996 Journal of Guidance Control and Dynamics  
L, “Variable Structure Systems with Sliding Mode: A Survey,” IEEE Transactions on Automatic Control, Vol. 22, No. 2, 1977, pp. 212-222. 7Itkis, U., Control System of Variable Structure, Wiley, New York  ...  and Chen, D., “Control of Free-Flying Underactuated Space Manipulators to Equilibrium Manifolds,” JEEE Transactions on Robotics and Automation, Vol. 9, No. 5, 1993, pp. 561-570.  ... 
doi:10.2514/3.21743 fatcat:xrauzh5yife4rfdri4cgo6ucxe

2020 Index IEEE Transactions on Robotics Vol. 36

2020 IEEE Transactions on robotics  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  ., +, TRO Feb. 2020 302-309 Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators.  ...  ., +, TRO Feb. 2020 302-309 Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators.  ... 
doi:10.1109/tro.2021.3050417 fatcat:gzwbyhjzhbdnrdp6prpokofstu

Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts [article]

Saeid Samadi
2021 arXiv   pre-print
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance.  ...  We assess our approach with experiments highlighting switches between fixed and sliding contact modes in multi-contact configurations.  ...  Pierre Gergondet for his technical supports on the mc_rtc framework.  ... 
arXiv:2103.02906v1 fatcat:ys5lvyaqjvg2llyiodidq755y4

A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems

Xilun DING, Pin GUO, Kun XU, Yushu YU
2018 Chinese Journal of Aeronautics  
Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices.  ...  Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control.  ...  Now adaptive sliding mode control and backstepping control are used for UAVs, while impedance control and visual servoing control are used for manipulating devices.  ... 
doi:10.1016/j.cja.2018.05.012 fatcat:a72ny553mjg6pcaq6wta7lmquu

Chaotic Vibration Prediction of a Free-Floating Flexible Redundant Space Manipulator

Congqing Wang, Linfeng Wu
2016 Shock and Vibration  
The dynamic model of a planar free-floating flexible redundant space manipulator with three joints is derived by the assumed modes method, Lagrange principle, and momentum conservation.  ...  According to minimal joint torque's optimization (MJTO), the state equations of the dynamic model for the free-floating redundant space manipulator are described.  ...  A robust control strategy for free-floating space robots was presented in [1] .  ... 
doi:10.1155/2016/6015275 fatcat:u3zlzfpvpvce3awb6dw7ohp5pm

2012 Subject Index

2012 Journal of Guidance Control and Dynamics  
Control of Formation Flying with State Constraints G12-074 Finite-Time Attitude Stabilization for a Spacecraft Using Homogeneous Method G12-110 Multiple Sliding Modes with Override Logic: Limit Management  ...  Distance Metrics PROPULSION Advanced Space Propulsion G12-157 Passive Control Feasibility of Collinear Equilibrium Points with Solar Balloons Gas Turbine Engines G12-110 Multiple Sliding Modes with Override  ... 
doi:10.2514/1.60510 fatcat:pmdtengfbzhu5njb4ux3mls5sm

Spatial Grasp Language (SGL) for Distributed Management and Control

Peter Simon Sapaty
2016 Journal of Robotics, Networking and Artificial Life (JRNAL)  
A full description of the high-level language for solving arbitrary problems in heterogeneous, distributed, and dynamic worlds, both physical and virtual, will be presented and discussed.  ...  The language is based on holistic and gestalt principles representing semantic level solutions in distributed environments in the form of self-evolving spatial patterns.  ...  Masanori Sugisaka, especially in the fields of advanced cooperative robotics, IT-based solutions of social problems, distributed sensor networks, and crisis and emergency management.  ... 
doi:10.2991/jrnal.2016.3.3.8 fatcat:dek3mz26svfffdxbqghav2j7qm

A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation

Hao Xu, Zhong Yang, Guoxing Zhou, Luwei Liao, Changliang Xu, Jiying Wu, Qiuyan Zhang, Chi Zhang, Shaohui Wang
2021 Complexity  
Finally, a controller which is suitable for the movement and operation of the entire system is designed.  ...  This paper proposes a novel aerial manipulator with front cutting effector (AMFCE) to address the aerial physical interaction (APhI) problem.  ...  of the control system, and it is not easy to implement. e SMC method changes the internal feedback control structure of the system so that the system state slides on the sliding mode surface and finally  ... 
doi:10.1155/2021/5695681 fatcat:isbpmyajuva6pc7rhxgejuq5na

Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

Rini Akmeliawati, Safanah M. Raafat
2013 2013 9th Asian Control Conference (ASCC)  
Distributed Adaptive Output Agreement in a Class of Multi-Agent Systems Veysel Gazi* 339 Coordinated Adaptive Control for Formation Flying Vehicles with a Time-Varying Orbital Velocity Yang-yang  ...  Self-Calibration for Inertial Platform System with a Single Totally Free Axis Lu Feng; Bo Wang*; Zhihong Deng; Shunting Wang 268 Efficient Input Variable Selection for Calibration Model Design  ... 
doi:10.1109/ascc.2013.6606363 dblp:conf/ascc/AkmeliawatiR13 fatcat:l7enyvdgurhpdl6yetwsst3u7y

Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

Zahra Samadikhoshkho, Shahab Ghorbani, Farrokh Janabi-Sharifi
2020 IEEE Access  
a control framework using robust adaptive sliding mode approach.  ...  A nonlinear robust adaptive hierarchical sliding mode control discussed in section III part A was applied for UAV tracking control.  ... 
doi:10.1109/access.2020.3026279 fatcat:pxqk7jbw2jaaviojrf7qyhqiqq

Robotic Manipulation and Capture in Space: A Survey

Evangelos Papadopoulos, Farhad Aghili, Ou Ma, Roberto Lampariello
2021 Frontiers in Robotics and AI  
Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital  ...  This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between  ...  Design of an Integral Suboptimal Second-Order Sliding Mode Controller for the Robust Motion Control of Robot Manipulators. IEEE Trans. Control. Syst.  ... 
doi:10.3389/frobt.2021.686723 fatcat:tigdb7c2tzhcjp7kxkjntqgdri

Unified transition to cooperative unmanned systems under Spatial Grasp paradigm

Peter S. Sapaty
2014 Transactions on Networks and Communications  
The approach also allows us to naturally engage cooperative robotic components in the force mix under automatic command and control resulting from parallel and distributed language interpretation, with  ...  The technology offered having a ubiquitous super-virus feature with extended capability of self-recovery can create runtime intelligent spatial infrastructures governing distributed systems or penetrate  ...  It can be created and modified on the fly and executed by manned, mixed, or fully robotic forces (with most of command and control hidden and shifted to automatic internal SGL interpretation).  ... 
doi:10.14738/tnc.22.130 fatcat:o2kohvealrhwlakxfxl4z4wsw4

Hybrid propulsion system for formation flying using electrostatic forces

C.M. Saaj, V. Lappas, H. Schaub, D. Izzo
2010 Aerospace Science and Technology  
The Sliding Mode Control (SMC) strategy generates the required inter-spacecraft forces based on the equivalent product of spacecraft surface charges.  ...  Simulation is performed to prove the efficacy of the proposed control, path planning and hybrid actuation schemes for close-proximity spacecraft formation flying in GEO and other high Earth orbits.  ...  Veysel Gazi (TOBB University of Economics and Technology, Turkey) for the fruitful and useful technical discussions.  ... 
doi:10.1016/j.ast.2010.02.009 fatcat:mnjliniehvbwxhjk4mk4k522au

An Adaptive Framework for Reliable Trajectory Following in Changing-Contact Robot Manipulation Tasks [article]

Saif Sidhik, Mohan Sridharan, Dirk Ruiken
2021 arXiv   pre-print
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces.  ...  system, and provide smooth and accurate trajectory tracking using a task-space variable impedance controller.  ...  for variable impedance control within that mode.  ... 
arXiv:2111.07753v1 fatcat:yvq4toue3bgedmfmq3x3sbhf7a

Attitude Control of a Flexible Planar Space Robot

Tatsuo NARIKIYO, Masanori SAKATA, Michihiro KAWANISHI
2008 SICE Journal of Control Measurement and System Integration  
In this study, we propose to synthesize a stabilizing controller as adaptive tracking control system combined with sliding mode control to track to the arm trajectories derived from the geometric phase  ...  However, in cases when flexible arms are used for control of the base attitude, inherent resonance modes are excited and instability is resulted.  ...  In our experiments, a free flying planar space robot with flexible dual arms floated by air on the horizontal plane has been employed.  ... 
doi:10.9746/jcmsi.1.368 fatcat:sf4kcvidnzfupjrzq4h6vvdh2a
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