Under-actuated systems
-
The Model Predictive Control (MPC) for the 3-D overhead crane (3DOC) system is the main subject of this paper. The crane's underactuated system necessitates a complex controller design. In this paper, the MPC was used to handle the problem of automatic load transportation.
5p vifalcon 16-05-2023 4 2 Download
-
The paper proposed a balancing control for MIMO under-actuated systems. In this paper, human walking robots, the athlete robot, are researched. The dynamic equations of this model are generated by Euler Lagrange method.
9p vidoctorstrange 06-05-2023 4 1 Download
-
This paper proposes a Takagi-Sugeno (TS) fuzzy approach for 2-dimensional of freedom overhead crane. Since this system is underactuated with nonlinear mathematical dynamic model, the requirement of achieving accurate positioning while eliminating oscillation is a challenging issue.
8p viporsche 25-10-2022 3 2 Download
-
This paper presents a novel adaptive controller for two-wheeled selfbalancing mobile robots combining sliding mode control and hierarchical sliding control techniques. In addition, the radial basis function neural networks (RBFNN) are also applied to approximate the uncertain components in the system.
9p viericschmid 12-01-2022 16 0 Download
-
This paper presents the dynamic model of multibody systems driven by electric motors, the so-called electromechanical systems. The mechanical systems considered in this study include an open loop and/or a closed loop, a full-actuated and an underactuated one. The dynamic model of this electromechanical systems is established in matrix form by applying the Lagrangian equation with and without multipliers and substructure method.
17p nguaconbaynhay11 07-04-2021 12 0 Download
-
This paper presents an adaptive backstepping controller for a class of multi input multi output (MIMO) underactuated system, with uncertain dynamics, in its original nonsquare form.
6p praishy2 27-02-2019 17 0 Download
-
In this paper, the virtual holonomic constraint approach is initiatively applied for the trajectory planning and control design of a typical double link underactuated mechanical system, called the Pendubot.
10p sansan2 26-05-2018 44 1 Download
-
Bài báo đề xuất một phương pháp thiết kế bộ điều khiển tựa trượt gián đoạn cho một lớp hệ hụt cơ cấu chấp hành có xét đến ảnh hưởng của nhiễu bị chặn. Dựa trên phương pháp hàm Lyapunov, một điều kiện đủ cho sự tồn tại một mặt trượt ổn định được đưa ra dưới dạng bất đẳng thức ma trận tuyến tính.
13p dieutringuyen 07-06-2017 53 3 Download