A time delay controller included terminal sliding mode and fuzzy gain tuning for underwater vehicle-manipulator systems
Abstract An improved Time Delay Control (TDC) method for an Underwater Vehicle-
Manipulator System (UVMS) is proposed. The proposed controller consists of three terms: a …
Manipulator System (UVMS) is proposed. The proposed controller consists of three terms: a …
Nonlinear closed loop optimal control: a modified state-dependent Riccati equation
SR Nekoo - ISA transactions, 2013 - Elsevier
The state-dependent Riccati equation (SDRE), as a controller, has been introduced and
implemented since the 90s. In this article, the other aspects of this controller are declared …
implemented since the 90s. In this article, the other aspects of this controller are declared …
Optimal motion planning of non-linear dynamic systems in the presence of obstacles and moving boundaries using SDRE: application on cable-suspended robot
In this paper a closed-loop non-linear optimal controller is designed via State Dependent
Riccati Equation (SDRE) and employed for a spatial six-cable robot. SDRE provides a …
Riccati Equation (SDRE) and employed for a spatial six-cable robot. SDRE provides a …
Optimal path planning of a cable-suspended robot with moving boundary using optimal feedback linearization approach
In this paper, the optimal path of a cable-suspended robot between two boundaries is
assessed subject to its maximum load, while the initial and target points are moving …
assessed subject to its maximum load, while the initial and target points are moving …
Type synthesis of non-holonomic spherical constraint underactuated parallel robotics
Abstract Space robotics is taken as one of the most promising approaches for on-orbit
servicing missions. The underactuated non-holonomic parallel mechanism is a new …
servicing missions. The underactuated non-holonomic parallel mechanism is a new …
Design of foldable PCBSat enabling three-axis attitude control
H Gong, S Gong - Acta Astronautica, 2022 - Elsevier
Satellite-on-a-printed circuit board (PCBSat) is a kind of femto-satellite that integrates all the
electronic devices onto a PCB. Constrained by the energy/volume capacity, traditional …
electronic devices onto a PCB. Constrained by the energy/volume capacity, traditional …
A bio-inspired approach for online trajectory generation of industrial robots
Y Farzaneh, A Akbarzadeh - Adaptive behavior, 2012 - journals.sagepub.com
This paper presents a bio-inspired approach for generating online rhythmic point-to-point
motions commonly used by industrial robots. Rhythmic motions in biological systems are …
motions commonly used by industrial robots. Rhythmic motions in biological systems are …
Maximum allowable load of mobile manipulator in the presence of obstacle using non-linear open and closed loop optimal control
In this paper, a new method which is a combination of open and closed loop optimal control
is developed to find maximum load carrying capacity of nonholonomic wheeled mobile …
is developed to find maximum load carrying capacity of nonholonomic wheeled mobile …
The modal analysis of a two-link mechanical system of a robot manipulator
The method of calculation of natural frequencies and forms of oscillations of a two-link
mechanical system of a robot manipulator is proposed. Links of the system are considered …
mechanical system of a robot manipulator is proposed. Links of the system are considered …
[PDF][PDF] Trajectory planning for point-to-point motion using high-order polynomials
In this paper, a trajectory planning problem based on high-order polynomials is formulated
for a point-to-point motion. The problem aims to find suitable polynomial trajectories that …
for a point-to-point motion. The problem aims to find suitable polynomial trajectories that …