Consensus control for networked manipulators with switched parameters and topologies
L Liu, B Li, R Guo - IEEE Access, 2021 - ieeexplore.ieee.org
To solve abruptly occurrence of parameters jumping and directed communication topologies
changing in the control process of networked manipulators, in this paper, distributed …
changing in the control process of networked manipulators, in this paper, distributed …
A holistic approach to reactive mobile manipulation
J Haviland, N Sünderhauf… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
We present the design and implementation of a taskable reactive mobile manipulation
system. In contrary to related work, we treat the arm and base degrees of freedom as a …
system. In contrary to related work, we treat the arm and base degrees of freedom as a …
Stability of switched nonlinear systems with delay and disturbance
We consider a class of nonlinear time-varying switched control systems for which stabilizing
feedbacks are available. We study the effect of the presence of a delay in the input of …
feedbacks are available. We study the effect of the presence of a delay in the input of …
An efficient approach based power flow management in smart grid system with hybrid renewable energy sources
Highlights•Hybrid approach for the power flow management in smart grid with HRES.•Solar
PV, wind turbine, micro turbine, fuel cell, diesel generator, battery.•Turbulent fow of water …
PV, wind turbine, micro turbine, fuel cell, diesel generator, battery.•Turbulent fow of water …
A finite-time tracker for nonholonomic systems using recursive singularity-free FTSM
S Mobayen, MJ Yazdanpanah… - Proceedings of the 2011 …, 2011 - ieeexplore.ieee.org
A novel recursive singularity free FTSM (Fast Terminal Sliding Mode) strategy for finite time
tracking control of nonholonomic systems is proposed. As a result, the singularity problem …
tracking control of nonholonomic systems is proposed. As a result, the singularity problem …
Nonlinear control of mobile inverted pendulum
RM Brisilla, V Sankaranarayanan - Robotics and Autonomous Systems, 2015 - Elsevier
The mobile inverted pendulum (MIP) is a robotic system with nonholonomic constraint due to
no-slip condition imposed on the wheel. In particular, it has four configuration variables to be …
no-slip condition imposed on the wheel. In particular, it has four configuration variables to be …
Stabilization of a tractor-trailer wheeled robot
AK Khalaji, SAA Moosavian - Journal of Mechanical Science and …, 2016 - Springer
Wheeled mobile robots are a special class of nonholonomic mechanical systems. The
mobility of such highly nonlinear systems is restricted due to the presence of nonholonomic …
mobility of such highly nonlinear systems is restricted due to the presence of nonholonomic …
Stabilization of switched time-delay systems with only unstable subsystems: a new approach based on a vibration model of 1.5 degrees of freedom
T Fu, Y Zhou - Applied Mathematics and Computation, 2022 - Elsevier
This paper presents a new state-dependent switching strategy for stabilization of switched
time-delay systems with all subsystems being unstable. When time-delays are not small …
time-delay systems with all subsystems being unstable. When time-delays are not small …
Simultaneous stabilization and tracking of nonholonomic WMRs with input constraints: Controller design and experimental validation
Z Wang, G Li, X Chen, H Zhang… - IEEE Transactions on …, 2018 - ieeexplore.ieee.org
Considering input constraints and parameter uncertainty of the nonholonomic wheeled
mobile robots, a new control law has been designed in this paper to solve the tracking and …
mobile robots, a new control law has been designed in this paper to solve the tracking and …
Sliding mode tracking control of mobile robots with approach angle in cartesian coordinates
JK Lee, YH Choi, JB Park - … Journal of Control, Automation and Systems, 2015 - Springer
In this paper, we propose a method for designing the sliding mode based tracking control of
a mobile robot in Cartesian coordinates with an approach angle and an improved reaching …
a mobile robot in Cartesian coordinates with an approach angle and an improved reaching …