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Use of adaptive fuzzy systems in parameter tuning of sliding-mode controllers

K. Erbatur, O. Kaynak
<span title="">2001</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/56vdvvzi5fai5aigjcxpcegkf4" style="color: black;">IEEE/ASME transactions on mechatronics</a> </i> &nbsp;
A novel approach based on the introduction of a "chattering variable" is developed.  ...  Index Terms-Adaptive fuzzy systems, manipulator trajectory control, sliding-mode control (SMC).  ...  SMC A number of approaches based on SMC methodology are proposed in the literature for trajectory control of robotic manipulators.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/3516.974861">doi:10.1109/3516.974861</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/zcm7ai6asjaw3mymux3dy2upum">fatcat:zcm7ai6asjaw3mymux3dy2upum</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705075311/http://mecha.ee.boun.edu.tr/Prof.%20Dr.%20Okyay%20Kaynak%20Publications/c%20Journal%20Papers(appearing%20in%20SCI%20or%20SCIE%20or%20CompuMath)/40.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/bc/5e/bc5e84e05262a4136171744d6d89a6f9f3a19eb2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/3516.974861"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Coordinated Multiagent Teams and Sliding Autonomy for Large-Scale Assembly

B. Sellner, F.W. Heger, L.M. Hiatt, R. Simmons, S. Singh
<span title="">2006</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yfvtieuumfamvmjlc255uckdlm" style="color: black;">Proceedings of the IEEE</a> </i> &nbsp;
Recent research in human-robot interaction has investigated the concept of Sliding, or Adjustable, Autonomy, a mode of operation bridging the gap between explicit teleoperation and complete robot autonomy  ...  The results of these studies support our belief that by incorporating a remote human operator into multi-agent teams, the team as a whole becomes more robust and efficient.  ...  Using a roving eye and a fixed manipulator, Kortenkamp et al. [8] developed and tested a software infrastructure that allows for sliding control of a robot manipulator.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/jproc.2006.876966">doi:10.1109/jproc.2006.876966</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xhew7k6acrdt3hp2aemthryrsi">fatcat:xhew7k6acrdt3hp2aemthryrsi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20060912072248/http://www.frc.ri.cmu.edu/projects/trestle/pubs/sellner_multi_agent_systems.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/5c/c7/5cc7b760e861c310a0a6168efc6e00ed5ae8bddc.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/jproc.2006.876966"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Adjustment mechanism with sliding mode for adaptive PD controller applied to unmanned fixed-wing MAV altitude

Tadeo Espinoza, A. S ́aenz-Esqued, F. C ́ortes-Mart ́ınez
<span title="2021-12-01">2021</span> <i title="Institute of Advanced Engineering and Science"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/olnge2uyyzdoxn2qdyzfye5hdq" style="color: black;">IAES International Journal of Robotics and Automation</a> </i> &nbsp;
<p>This work presents an adjustment mechanism with the sliding modes technique to design a proportional derivative (PD) controller with adaptive gains.  ...  The objective and contribution are to design a robust adjustment mechanism in the presence of unknown and not modeled perturbations in the system; this perturbation can be considered wind gusts.  ...  ACKNOWLEDGMENT The authors would like to thank Facultad de Ingeniería, Ciencias y Arquitectura From the Universidad Juárez del Estado de Durango for the support during the development of this work.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.11591/ijra.v10i4.pp308-318">doi:10.11591/ijra.v10i4.pp308-318</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ogbgctd64rbz5hf22tz4kxlucm">fatcat:ogbgctd64rbz5hf22tz4kxlucm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20211210002412/http://ijra.iaescore.com/index.php/IJRA/article/download/20329/12961" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ac/71/ac713027c9ca79dc9838b2295e2d10d11b6cb014.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.11591/ijra.v10i4.pp308-318"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

The fusion of computationally intelligent methodologies and sliding-mode control-a survey

O. Kaynak, K. Erbatur, M. Ertugnrl
<span title="">2001</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/bt4kk6c6rfgonj36mkvjl5xvbq" style="color: black;">IEEE transactions on industrial electronics (1982. Print)</a> </i> &nbsp;
This paper surveys how some "intelligence" can be incorporated in sliding-mode controllers (SMCs) by the use of computational intelligence methodologies in order to alleviate the wellknown problems met  ...  The use of variable-structure system theory in design and stability analysis of fuzzy controllers is also discussed by drawing parallels between fuzzy control and SMCs.  ...  Erbatur et al.follows such an approach in [51] for trajectory control of a robotic manipulator.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/41.904539">doi:10.1109/41.904539</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gjq3wckpp5czrkqrl7znkqihae">fatcat:gjq3wckpp5czrkqrl7znkqihae</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705123118/http://www.mecha.ee.boun.edu.tr/Prof.%20Dr.%20Okyay%20Kaynak%20Publications/c%20Journal%20Papers%28appearing%20in%20SCI%20or%20SCIE%20or%20CompuMath%29/34.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/be/8e/be8e2fdd649a3a9f85345e970c1501f4fd4f43ea.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/41.904539"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Model preview control in multi-contact motion-application to a humanoid robot

Herve Audren, Joris Vaillant, Abderrahmane Kheddar, Adrien Escande, Kenji Kaneko, Eiichi Yoshida
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2014 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
Relatively to Nagasaka's work, we allow frame changes of the preferred force, provide a heuristic to compute the timing of the transition from purely geometrical features and investigate the synchronization  ...  model-based controller to track it at best.  ...  ACKNOWLEDGEMENTS This work is partially supported by the FP7 EU Robo-How.Cog, FP7 KoroiBot and the JSPS Grant-in-Aid B No 25280096.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2014.6943129">doi:10.1109/iros.2014.6943129</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/AudrenVKEKY14.html">dblp:conf/iros/AudrenVKEKY14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3ubfpwjblfhzjcdjpn6hvzblya">fatcat:3ubfpwjblfhzjcdjpn6hvzblya</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170811194205/https://staff.aist.go.jp/e.yoshida/papers/Audren_iros2014.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d8/ba/d8ba8b2a81a912be3c0f5b2779b0c5b45ee6e3ed.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2014.6943129"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

POMDP manipulation via trajectory optimization

Ngo Anh Vien, Marc Toussaint
<span title="">2015</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</a> </i> &nbsp;
Efficient object manipulation based only on force feedback typically requires a plan of actively contact-seeking actions to reduce uncertainty over the true environmental model.  ...  We demonstrate the proposed method on a simulated 7 DoF KUKA arm and a physical Willow Garage PR2 platform.  ...  The robot is expected to slide its end-effector on the table to find one of the table's edge, then slide back to the table's center. A.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2015.7353381">doi:10.1109/iros.2015.7353381</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/VienT15.html">dblp:conf/iros/VienT15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/zktofec7gjcypd54quekwlqg5u">fatcat:zktofec7gjcypd54quekwlqg5u</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200321002831/https://ipvs.informatik.uni-stuttgart.de/mlr/papers/15-vien-iros.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/bd/26/bd26ad928f0b8c493aeff69f2d628065220d2d22.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2015.7353381"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Time-Delayed Output Feedback Bilateral Teleoperation With Force Estimation for $n$-DOF Nonlinear Manipulators

John M. Daly, David W. L. Wang
<span title="">2014</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/w55uhp5h3rdubpws6c5kic4vxm" style="color: black;">IEEE Transactions on Control Systems Technology</a> </i> &nbsp;
Central to the approach presented in this work is the use of second order sliding mode unknown input observers for estimating the external forces acting on the manipulators.  ...  For instance, the ability to send a remote controlled robotic vehicle into a hazardous environment can be a great asset in many industrial applications.  ...  As a result of these issues, robust control approaches are desirable. Sliding mode control is one such approach. This section will provide an introduction to the concept of sliding mode control.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tcst.2013.2242329">doi:10.1109/tcst.2013.2242329</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5yo3xil5ona2zp7ywocyojbd64">fatcat:5yo3xil5ona2zp7ywocyojbd64</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200321075907/https://uwspace.uwaterloo.ca/bitstream/handle/10012/5115/Daly_John.pdf;sequence=1" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/6a/56/6a5636ef633f075f28e92141d055765a24048a06.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tcst.2013.2242329"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Underwater manipulators: A review

Satja Sivčev, Joseph Coleman, Edin Omerdić, Gerard Dooly, Daniel Toal
<span title="">2018</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/gq7huhhyprhp5hpafsxiy4w7ma" style="color: black;">Ocean Engineering</a> </i> &nbsp;
This paper describes the state-of-the art in the area of underwater robot manipulator systems.  ...  A brief introduction is given on the use of manipulators in various offshore industries for different subsea intervention applications.  ...  The MaREI project is also supported by the following industrial partners: Resolve Marine Group, Shannon Foynes Port Company, Teledyne Blueview, Teledyne Reason and The Commissioners of Irish Lights.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.oceaneng.2018.06.018">doi:10.1016/j.oceaneng.2018.06.018</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gxrjmo2ei5ar3lnvbvvyiqowsq">fatcat:gxrjmo2ei5ar3lnvbvvyiqowsq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190430084432/https://ulir.ul.ie/bitstream/handle/10344/6962/Siccev_2018_Underwater.pdf;jsessionid=8185DB7A3329AEAFA8095B160A1476F5?sequence=2" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/12/0b/120b123706e12f69d2416a4c0bef5c76b744ac0e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.oceaneng.2018.06.018"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> elsevier.com </button> </a>

New Developments in Mathematical Control and Information for Fuzzy Systems

Hamid Reza Karimi, Mohammed Chadli, Peng Shi
<span title="">2013</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wpareqynwbgqdfodcyhh36aqaq" style="color: black;">Mathematical Problems in Engineering</a> </i> &nbsp;
In the paper entitled "Robustcontrol for a class of uncertain switched fuzzy time-delay systems based on T-S models" by Y.  ...  You et al. in the paper entitled "Low-speed control of heavyload transfer robot with long telescopic boom based on stribeck friction model" built a three-loop control nonlinear model of the system with  ...  We are also very grateful to the reviewers for their efforts in reviewing the papers on time. Hamid Reza Karimi Mohammed Chadli Peng Shi  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2013/126878">doi:10.1155/2013/126878</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jqd2cnhbrvexnb3uceubjego54">fatcat:jqd2cnhbrvexnb3uceubjego54</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190503190158/http://downloads.hindawi.com/journals/mpe/2013/126878.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/fe/57/fe5795840dfb43740e6ae4596c0b4c53d6c96835.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2013/126878"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> hindawi.com </button> </a>

Neuro-fuzzy inverse model control structure of robotic manipulators utilized for physiotherapy applications

A.A. Fahmy, A.M. Abdel Ghany
<span title="">2013</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nlqmna5mwnfjhm6fv3u2smz7pu" style="color: black;">Ain Shams Engineering Journal</a> </i> &nbsp;
This paper presents a new neuro-fuzzy controller for robot manipulators.  ...  Finally, a fuzzy-PID-like incremental controller was employed as Feedback servo controller. The proposed control system was tested using dynamic model of a six-axis industrial robot.  ...  This approach is based on adaptive neural network and sliding mode technique to design a robust controller with respect to external disturbances in order to improve the trajectory tracking.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.asej.2013.02.010">doi:10.1016/j.asej.2013.02.010</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/skr2pps5jfb5hkslidvm5u3zjy">fatcat:skr2pps5jfb5hkslidvm5u3zjy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190319231332/https://core.ac.uk/download/pdf/82693915.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/62/e7/62e721199dd2a328eb2e6c46a4c6fdd8023ceb6c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.asej.2013.02.010"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> elsevier.com </button> </a>

Optimization based full body control for the atlas robot

Siyuan Feng, Eric Whitman, X Xinjilefu, Christopher G. Atkeson
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p2nw3ufilvbknotfq56xtvnhtq" style="color: black;">2014 IEEE-RAS International Conference on Humanoid Robots</a> </i> &nbsp;
On the other hand, inverse dynamics (ID) based approaches have gained increasing acceptance by providing compliant motions and robustness to external perturbations.  ...  However, the performance of such methods is heavily dependent on high quality dynamic models, which are often very difficult to produce for a physical robot.  ...  ACKNOWLEDGEMENT This material is based upon work supported in part by the US National Science Foundation (ECCS-0824077, and IIS-0964581) and the DARPA M3 and the Robotics Challenge programs.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2014.7041347">doi:10.1109/humanoids.2014.7041347</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/humanoids/FengWXA14.html">dblp:conf/humanoids/FengWXA14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3tdlbiawcrdwzdh4j3mvl6ahle">fatcat:3tdlbiawcrdwzdh4j3mvl6ahle</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170814135254/http://www.cs.cmu.edu/~sfeng/sf_hum14.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c2/a3/c2a347ae729f805bc428b5b3710495a0b913bf8b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/humanoids.2014.7041347"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Iterative Autonomous Excavation [chapter]

Guilherme J. Maeda, David C. Rye, Surya P. N. Singh
<span title="2013-12-31">2013</span> <i title="Springer Berlin Heidelberg"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lirc5icuifhy7ln5rynpn4ak2e" style="color: black;">Springer Tracts in Advanced Robotics</a> </i> &nbsp;
This is in contrast to most excavation control approaches that are based on the generation, tracking and re-planning of single-pass tasks where the performance is limited by the accuracy of the prediction  ...  Field experiments show that a disturbance compensated controller is able to maintain convergence, and that a 2-DOF feedforward controller based on free motion inverse dynamics may not converge due to limited  ...  This work was supported by the Rio Tinto Centre for Mine Automation and the Australian Centre for Field Robotics funded in part by the New South Wales State Government.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-642-40686-7_25">doi:10.1007/978-3-642-40686-7_25</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/kvzm6igs65gqffiez7poh6asse">fatcat:kvzm6igs65gqffiez7poh6asse</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20140127092304/http://robotics.itee.uq.edu.au/~spns/pubcache/gjm_FSR2012.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/67/f8/67f8601ddb21e457c4de4999936d638c94ba9bd6.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-642-40686-7_25"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

PID Controller Optimization for Low-cost Line Follower Robots [article]

Samet Oguten, Bilal Kabas
<span title="2021-11-07">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed.  ...  This paper describes the heuristic approach used in the identification of the system specifications as well as the optimization of the controller.  ...  Based on this reading, a positional information is obtained so that the controller knows where the line is.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2111.04149v1">arXiv:2111.04149v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ja2katzg2nbyncnre3fidmpvem">fatcat:ja2katzg2nbyncnre3fidmpvem</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20211114061351/https://arxiv.org/pdf/2111.04149v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/a6/45/a6459140178bb12e108002ebeb6b9e14152ec47a.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2111.04149v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Active Fault-Tolerant Control Design for Actuator Fault Mitigation in Robotic Manipulators

Yashar Shabbouei Hagh, Reza Mohammadi Asl, Afef Fekih, Huapeng Wu, Heikki Handroos
<span title="">2021</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/q7qi7j4ckfac7ehf3mjbso4hne" style="color: black;">IEEE Access</a> </i> &nbsp;
For instance, [33] introduced a combined scheme of a robust H ∞ controller and sliding mode-based controller.  ...  control scheme is proposed based on the sliding mode control to maintain the performance of the system.  ...  The FTC scheme was designed based on a non-singular terminal synergetic control (NTSC), to guarantee finite-time convergence of the states and a chattering-free performance while circumventing the singularity  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3068448">doi:10.1109/access.2021.3068448</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/fgsn57spl5dghlgs24xpxhttom">fatcat:fgsn57spl5dghlgs24xpxhttom</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210329003104/https://ieeexplore.ieee.org/ielx7/6287639/6514899/09385085.pdf?tp=&amp;arnumber=9385085&amp;isnumber=6514899&amp;ref=" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/29/8a/298a93a694c99b07ce6bea97976edc1feae81675.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3068448"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> ieee.com </button> </a>

Residual Policy Learning [article]

Tom Silver, Kelsey Allen, Josh Tenenbaum, Leslie Kaelbling
<span title="2019-01-03">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We argue that RPL is a promising approach for combining the complementary strengths of deep reinforcement learning and robotic control, pushing the boundaries of what either can achieve independently.  ...  In these tasks, reinforcement learning from scratch remains data-inefficient or intractable, but learning a residual on top of the initial controller can yield substantial improvements.  ...  Our only substantial modification is to initialize the last layer of the network to zeros, so that the policy starts with the base controller (as described in section IV-A).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1812.06298v2">arXiv:1812.06298v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/se366xbmf5betfts436qekd6ma">fatcat:se366xbmf5betfts436qekd6ma</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200911105738/https://arxiv.org/pdf/1812.06298v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/34/94/34943142aa96f8bab3437b4f5ee43a232ea2a5e4.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1812.06298v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>
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