相关论文: Controllability and Accessibility Results for N-Li…

This paper analyzes the nonlinear Small-Time Local Controllability (STLC) of a class of underatuated aerial manipulator robots. We apply methods of Lagrangian reduction to obtain their lowest dimensional equations of motion (EOM). The…

In the above mentioned note (<hal-01145537>, <arXiv:1506.05918>, published in IEEE Trans. Autom. Cont., 2017), the first and fourth authors proved a local controllability result around the straight configuration for a class of…

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…

The local controllability of a rich class of affine nonlinear control systems with nonhomogeneous quadratic drift and constant control vector fields is analyzed. The interest in this particular class of systems stems from the ubiquity in…

Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…

We study the small-time local controllability (STLC) of a bilinear Schr\"odinger equation with Neumann boundary conditions near its ground state. We focus on the degenerate case where the linearized system is not controllable, necessitating…

The paper focuses on the stiffness analysis of multi-link serial planar manipulators, which may demonstrate nonlinear stiffness behavior under the compressive loading. Two important cases are considered, where the manipulator has either a…

This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…

A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…

The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ability to safely conform to items during contact. However,…

The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…

The question of open-loop control in the Gaussian regime may be cast by asking which Gaussian unitary transformations are reachable by turning on and off a given set of quadratic Hamiltonians. For compact groups, including finite…

This paper studies the controllability of networked relative coupling systems (NRCSs), in which subsystems are of fixed high-order linear dynamics and coupled through relative variables depending on their neighbors, from a structural…

The goal of this article is to contribute to a better understanding of the relations between the exact controllability of nonlinear PDEs and the control theory for ODEs based on Lie brackets, through a study of the Schr\"odinger PDE with…

In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…

We show that we can achieve global density-operator controllability for most N-dimensional bilinear Hamiltonian control systems with general fixed couplings using a single, locally-acting actuator that modulates one energy-level transition.…

The primary purpose of this article is to accomplish safe grasping task by means of dual one-link flexible manipulators. In order to design a force-sensor-less force control, the direct force control problem is reduced to common motion…

This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…

Underactuated manipulators reduce the number of bulky motors, thereby enabling compact and mechanically robust designs. However, fewer actuators than joints means that the manipulator can only access a specific manifold within the joint…

In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematical model of the manipulator, considering the dynamics of the…