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Jun He, Mingjin Shen and Feng Gao
The hardware-in-the-loop (HIL) simulation is an important approach to test space robotic operations, rendering virtual free-floating dynamics on robotic facilities. However, this approach suffers from velocity divergence due to intrinsic time delay in th...
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Mutaz Ryalat, Hazem Salim Damiri and Hisham ElMoaqet
Dynamic positioning (DP) control system is an essential module used in offshore ships for accurate maneuvering and maintaining of ship?s position and heading (fixed location or pre-determined track) by means of thruster forces being generated by controll...
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Yue Wang, Haisheng Yu, Jinpeng Yu, Herong Wu and Xudong Liu
This paper presents the trajectory tracking control of a flexible-joint manipulator driven by permanent magnet synchronous motor (PMSM). Combining the PMSM electrical equation and mechanical equation of robotic manipulators, a novel smooth switching cont...
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Jianyong Li, Yanhong Liu, Chunwen Li and Bing Chu
Passivity-based control is widely used in electronic circuit systems because it can utilize their internal structures to facilitate the controller design. In this paper, we first propose a dissipative Hamiltonian realization of power systems and discuss ...
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Hayakawa, T.; Haddad, W.M.; Bailey, J.M.; Hovakimyan, N.
Pág. 387 - 398
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A. G. Kelkar and S. M. Joshi
Pág. 1699 - 1735
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