Related papers: Adaptive Fractional PID Controller for Robot Manip…
This paper articulates design and performance analysis of digital controllers in discrete and continuous time domains for a single-joint robot arm manipulator. The investigated robot arm system is modeled as a single degree of freedom (DOF)…
This research proposes a robust adaptive fuzzy sliding mode control (AFSMC) approach to enhance the trajectory tracking performance of cylindrical robotic manipulators, extensively utilized in applications such as CNC and 3D printing. The…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
Automated driving systems require monitoring mechanisms to ensure safe operation, especially if system components degrade or fail. Their runtime self-representation plays a key role as it provides a-priori knowledge about the system's…
We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design complexity. Using only three minutes of probing data, a…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
This paper examines the Evolutionary programming (EP) method for optimizing PID parameters. PID is the most common type of regulator within control theory, partly because it's relatively simple and yields stable results for most…
Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to…
The design of Proportional Integral-Derivative (PID) controller is involved to gain infinite stiffness using active vibration control system and it is a modification of previous work. The PID controller is a control loop feedback mechanism…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
Proportional-integral-derivative (PID) control underlies more than $97\%$ of automated industrial processes. Controlling these processes effectively with respect to some specified set of performance goals requires finding an optimal set of…
This paper presents an adaptive causal discrete-time filter for derivative estimation, exemplified by its use in estimating relative velocity in a mechatronic application. The filter is based on a constrained least squares estimator with…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This…
In this article we show how the model predictive path following controller allows robotic manipulators to stop at obstructions in a way that model predictive trajectory tracking controllers cannot. We present both controllers as applied to…
Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the vertex, and then puts it down to the floor. However, pivoting…