Dynamic modeling and fuzzy compensation sliding mode control for flexible manipulator servo system
The flexible manipulator servo system considering the second-order modal and two-
dimensional deformation is too complicated, which is not conducive to real-time control. In …
dimensional deformation is too complicated, which is not conducive to real-time control. In …
Designing an optimal control strategy for a mobile manipulator and its application by considering the effect of uncertainties and wheel slip**
M Habibnejad Korayem, N Ghobadi… - Optimal Control …, 2021 - Wiley Online Library
This article seeks to develop the dynamic model of a mobile robot for controlling purposes
while the effects of uncertainties and longitudinal and lateral slip are assumed. The rise in …
while the effects of uncertainties and longitudinal and lateral slip are assumed. The rise in …
Transmission friction measurement and suppression of dual-inertia system based on RBF neural network and nonlinear disturbance observer
J Xu, X Li, Z Yang, J Su, R Chen, D Shang - Measurement, 2022 - Elsevier
With the high demand for the anti-interference ability and motion accuracy of robot systems,
the friction caused by the vibration of gears and connecting parts affects the stability and …
the friction caused by the vibration of gears and connecting parts affects the stability and …
Optimal sliding mode control design based on the state-dependent Riccati equation for cooperative manipulators to increase dynamic load carrying capacity
Cooperative manipulators have uncertainties in their structure; therefore, an optimal sliding
mode control method is derived from a combination of the sliding mode control (SMC) and …
mode control method is derived from a combination of the sliding mode control (SMC) and …
Digital implementation of a continuous-time nonlinear optimal controller: An experimental study with real-time computations
SR Nekoo - ISA transactions, 2020 - Elsevier
In this paper, the digital implementation of a continuous-time robust nonlinear optimal
controller is presented as an experimental study with real-time computations. Complicated …
controller is presented as an experimental study with real-time computations. Complicated …
A robust state-dependent Riccati equation controller with parameter uncertainty and matched disturbance
The state-dependent Riccati equation (SDRE) unveils a nonlinear optimal control approach;
the method is sensitive to uncertainty and disturbance that provokes the necessity of precise …
the method is sensitive to uncertainty and disturbance that provokes the necessity of precise …
Nonlinear control of two-wheeled robot based on novel analysis and design of SDRE scheme
This brief presents a nonlinear control design for a two-wheeled inverted pendulum robot,
based on new analysis of the classical state-dependent Riccati equation (SDRE) scheme …
based on new analysis of the classical state-dependent Riccati equation (SDRE) scheme …
Design and implementation of the voice command recognition and the sound source localization system for human–robot interaction
Human–robot interaction (HRI) is becoming more important nowadays. In this paper, a low-
cost communication system for HRI is designed and implemented on the Scout robot and a …
cost communication system for HRI is designed and implemented on the Scout robot and a …
Modeling and control analysis of electric driving system considering gear friction based on dual-inertia system
J Xu, X Li, R Chen, D Shang, Z Yang, H Yang - Journal of the Franklin …, 2023 - Elsevier
In the electric driving system, the measurement of the motor speed error becomes more and
more important, which has an impact on the system vibration suppression. In this paper …
more important, which has an impact on the system vibration suppression. In this paper …
Vehicle-trailer lateral velocity estimation using constrained unscented transformation
Using a 3-degree-of-freedom lateral dynamic vehicle-trailer system model with the LuGre
tyre model, this paper proposes a constrained unscented transformation based scheme for …
tyre model, this paper proposes a constrained unscented transformation based scheme for …