Related papers: Position Control of Single Link Flexible Manipulat…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…
This paper introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surfaces. The strategy uniquely integrates the Control Barrier…
Permanent magnet synchronous motors (PMSM) are widely used due to their numerous benefits. It is critical to get rotor position and speed information in order to operate the motor accurately. Sensorless control techniques have emerged as a…
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…
In this paper, a novel adaptive-gain Second Order Sliding Mode (SOSM) observer is proposed for multicell converters by considering it as a class of hybrid systems. The aim is to reduce the number of voltage sensors by estimating the…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…
In this paper, we introduce a new sliding mode observer for Lur'e set-valued dynamical systems, particularly addressing challenges posed by uncertainties not within the standard range of observation. Traditionally, most of Luenberger-like…
The mode shape function is difficult to determine in modeling manipulators with flexible links using the assumed mode method. In this paper, for a planar 3-RRR parallel manipulator with flexible actuation links, we provide a data-driven…
The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
Optical sensors are often mounted on moving platforms to aid in a variety of tasks like data collection, surveillance and navigation. This necessitates the precise control of the inertial orientation of the optical sensor line-of-sight…
In this paper, we investigate the stabilization of a nonlinear plant subject to network constraints, under the assumption of partial knowledge of the plant state. The event triggered paradigm is used for the observation and the control of…
We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to construct a safe sliding domain from the dynamic of a simple…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
In this paper, we present a new terminal sliding mode control to achieve predefined-time stability of robot manipulators. The proposed control is developed based on a novel predefined-time terminal sliding mode (PTSM) surface, on which the…
This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…
Increasingly stringent performance requirements for motion control necessitate the use of increasingly detailed models of the system behavior. Motion systems inherently move, therefore, spatio-temporal models of the flexible dynamics are…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…