相关论文: Position Control of Single Link Flexible Manipulat…

The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC)…

Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…

This study proposes an adaptive subsystem-based control (SBC) for systematic and straightforward nonlinear~control of nth-order strict-feedback form (SFF) systems.~By decomposing the SFF system to subsystems, a generic~term (namely…

This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force…

In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained…

In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…

Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…

This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…

Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…

This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…

This work addresses the design of a robust hybrid observer for discrete-time switched linear systems subject to unknown inputs and modeling errors. The observer herein proposed is synthesized, for the case when the active mode is unknown…

Current prosthesis control methods are primarily model-independent - lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, and neglecting use of the natural dynamics of the system.…

Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…

This is an intuitive introduction to classic sliding mode control that shows how the associated assumptions and condition for its use arise in the context of a derivation of the method. It derives a controller that obviates the need for the…

This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…

This paper proposes a novel sliding mode control (SMC) method for a class of affine dynamic systems. In this type of systems, the high-frequency gain matrix (HFGM), which is the matrix multiplying the control vector in the dynamic equation…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…

This study designs a high-precision bilateral teleoperation control for a dissimilar master-slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of…

A method of designing observers and observer-based tracking controllers is proposed for nonlinear systems on manifolds via embedding into Euclidean space and transversal stabilization. Given a system on a manifold, we first embed the…