A survey of applications of second-order sliding mode control to mechanical systems

G Bartolini, A Pisano, E Punta… - International Journal of …, 2003 - Taylor & Francis
The effective application of sliding mode control to mechanical systems is not straightforward
because of the sensitivity of these systems to chattering. Higher-order sliding modes can …

[图书][B] Adaptive neural network control of robotic manipulators

TH Lee, CJ Harris - 1998 - books.google.com
Introduction; Mathematical background; Dynamic modelling of robots; Structured network
modelling of robots; Adaptive neural network control of robots; Neural network model …

Sliding mode control: A survey with applications in math

A Pisano, E Usai - Mathematics and Computers in Simulation, 2011 - Elsevier
The paper presents a brief survey on Variable Structure Control Systems with Sliding
Modes. Starting from a general case of sliding modes in dynamical systems with …

Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures

A Oyola, B Zubiate, D Whipple, JA Stand… - US Patent …, 2017 - Google Patents
An articulating probe, comprises a first mechanism includ ing a first link comprising a first
longitudinal axis, a first articulation surface and a first motion-limiting element; and a second …

Contact-force distribution optimization and control for quadruped robots using both gradient and adaptive neural networks

Z Li, SS Ge, S Liu - IEEE transactions on neural networks and …, 2013 - ieeexplore.ieee.org
This paper investigates optimal feet forces' distribution and control of quadruped robots
under external disturbance forces. First, we formulate a constrained dynamics of quadruped …

Neuro-adaptive force/position control with prescribed performance and guaranteed contact maintenance

CP Bechlioulis, Z Doulgeri… - IEEE Transactions on …, 2010 - ieeexplore.ieee.org
In this paper, we address unresolved issues in robot force/position tracking including the
concurrent satisfaction of contact maintenance, lack of overshoot, desired speed of …

Robust tracking designs for both holonomic and nonholonomic constrained mechanical systems: adaptive fuzzy approach

YC Chang, BS Chen - IEEE Transactions on Fuzzy Systems, 2000 - ieeexplore.ieee.org
Adaptive fuzzy-based tracking control designs are proposed in the paper for both holonomic
mechanical systems as well as a large class of nonholonomic mechanical systems with …

Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller

CP Bechlioulis, Z Doulgeri, GA Rovithakis - Automatica, 2012 - Elsevier
In this paper, we consider the problem of force/position tracking for a robot with revolute
joints in compliant contact with a kinematically known planar surface. A novel controller is …

Data driven adaptive predictive control for holonomic constrained under-actuated biped robots

SS Ge, Z Li, H Yang - IEEE Transactions on Control Systems …, 2011 - ieeexplore.ieee.org
Fundamentally, control system designs are concerned with the flow of signals in the closed
loop. In this paper, we are to present the control technique at the next level of abstraction in …

Highly articulated robotic probes and methods of production and use of such probes

JA Stand, RA DiDomenico, B Zubiate… - US Patent …, 2015 - Google Patents
A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer
sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core …