Related papers: Oscillation Reduction for Knuckle Cranes
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
Due to the limitation of the drone's load capacity, various specific tasks need to be accomplished by multiple drones in collaboration. In some transportation tasks, two drones are required to lift the load together, which brings even more…
Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. In this paper, we introduce a novel approach called rotational obstacle avoidance…
Recent low-thrust space missions have highlighted the importance of designing trajectories that are robust against uncertainties. In its complete form, this process is formulated as a nonlinear constrained stochastic optimal control…
This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a…
In this paper, a framework for the combination of robust fractional order CRONE control with non-linear reset is given for both first and second generation CRONE control. General design rules are derived and presented for these CRONE reset…
This paper presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons, namely restriction of human movement and versatile control of wearable co-robot systems. First,…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…
Biaxial motion control systems are used extensively in manufacturing and printing industries. To improve throughput and reduce machine cost, lightweight materials are being proposed in structural components but may result in higher…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…
The control of devices with limited input always bring attention to solve by research due to its difficulty and non-trival solution. For instance, the inverted pendulum is benchmarking problem in control theory and machine learning. In this…
The concepts of stability and balance represent many critical problems faced by engineering today. The inverted pendulum on a cart is one such non-linear, unstable, multivariate system whose goal is to determine a suitable control action…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
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…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
For autonomous crane lifting, optimal trajectories of the crane are required as reference inputs to the crane controller to facilitate feedforward control. Reducing the unactuated payload motion is a crucial issue for under-actuated tower…
We study in detail the recent suggestions by Tshiprut et al. [Phys. Rev. Lett. 95, 016101 (2005)] to tune tribological properties at the nanoscale by subjecting a substrate to periodic mechanical oscillations. We show that both in…
Bang-bang control is ubiquitous for Optimal Control Problems (OCPs) where the constrained control variable appears linearly in the dynamics and cost function. Based on the Pontryagin's Minimum Principle, the indirect method is widely used…
Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…