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Yankai Li, Yulong Huang, Han Liu and Dongping Li
In this paper, a full state-constrained anti-disturbance dynamic surface control method is proposed for six-degree-of-freedom unmanned helicopter systems under full state constraints and disturbances. Firstly, due to the underactuated characteristics of ...
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Babak Salamat and Gerhard Elsbacher
Steering large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized approach. Previous wo...
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Zdenek Neusser, Martin Necas and Michael Valá?ek
This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated into...
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Ji-Hong Li, Hyungjoo Kang, Min-Gyu Kim, Mun-Jik Lee, Gun Rae Cho and Han-Sol Jin
In this paper, we present a 3D formation control scheme for a group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct a sort of star-topology acoustic communi...
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Fei Liu, Wuxiang Zhang, Junfan Shang, Minghui Yi, Shenru Wang and Xilun Ding
Automated fiber placement (AFP) systems accommodate complex-shaped structures by pressing fibers against the non-planar surfaces of mandrels, in which compaction mechanisms are of crucial significance. A conventional compaction mechanism utilizes an inde...
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Zhiping He, Guofeng Wang, Yunsheng Fan and Shuanghu Qiao
This paper studies the fast finite-time path following of underactuated unmanned surface vehicles (USV) with sideslip compensation, time-varying disturbances and input saturation. In the guidance module, the fast finite-time predictor-based line-of-sight...
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Przemyslaw Herman
This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-...
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Daoliang Li and Ling Du
Autonomous underwater vehicles (AUVs) have been widely used to perform underwater tasks. Due to the environmental disturbances, underactuated problems, system constraints, and system coupling, AUV trajectory tracking control is challenging. Thus, further...
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Daniel Feliu-Talegon, José Ángel Acosta, Alejandro Suarez and Anibal Ollero
Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a goal to add to them some mani...
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This work addresses the problem of mitigating the effects of the cogging torque in permanent magnet synchronous motors, particularly brushless motors, which is a main issue in precision electric drive applications. In this work, a method for mitigating t...
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