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Nonlinear hierarchical control for unmanned quadrotor transportation systems
An unmanned quadrotor presents excellent mobility to fly freely in complex environments,
which makes it an ideal choice for aerial transferring tasks. During the transferring process, it …
which makes it an ideal choice for aerial transferring tasks. During the transferring process, it …
Continuous sliding mode control strategy for a class of nonlinear underactuated systems
Sliding mode control (SMC), which is known to present strong robustness against various
disturbances, has been extensively employed on underactuated systems, whose control …
disturbances, has been extensively employed on underactuated systems, whose control …
Reconfigurable tolerant control of uncertain mechanical systems with actuator faults: A sliding mode observer-based approach
B ** reconfigurable fault-tolerant control to retain a
nominal feedback controller and simultaneously handles actuator faults and system …
nominal feedback controller and simultaneously handles actuator faults and system …
A survey on underactuated robotic systems: bio-inspiration, trajectory planning and control
Underactuated robotic systems have become an important research topic aiming at
significant improvement of the behavioural performance and energy efficiency. Adopting …
significant improvement of the behavioural performance and energy efficiency. Adopting …
Underactuated motion planning and control for jum** with wheeled-bipedal robots
This letter studies jum** for wheeled-bipedal robots, a motion that takes full advantage of
the benefits from the hybrid wheeled and legged design features. A comprehensive …
the benefits from the hybrid wheeled and legged design features. A comprehensive …
A novel energy-coupling-based hierarchical control approach for unmanned quadrotor transportation systems
Cable-suspended transportation is an important way of transferring goods and materials by
rotorcraft in complex and hazardous environments, where external disturbances, system …
rotorcraft in complex and hazardous environments, where external disturbances, system …
Antiswing control of offshore boom cranes with ship roll disturbances
Offshore cranes often work in harsh sea conditions. As a result, they may suffer from various
external disturbances, especially the persistent and unpredictable ship motion caused by …
external disturbances, especially the persistent and unpredictable ship motion caused by …
Underactuated mechanical systems with both actuator and actuated/unactuated state constraints: A predictive control-based approach
Underactuated systems are widely used in practice. Due to actuator saturation and transient
performance requirements, it is necessary to keep the control inputs and system states …
performance requirements, it is necessary to keep the control inputs and system states …
Sliding mode control for underactuated overhead cranes suffering from both matched and unmatched disturbances
Overhead cranes, which are known as typical underactuated systems, are extensively
studied in recent years. However, many existing methods for overhead cranes are …
studied in recent years. However, many existing methods for overhead cranes are …
Enhanced-coupling adaptive control for double-pendulum overhead cranes with payload hoisting and lowering
Overhead cranes, which have been extensively studied, are mostly simplified as single
pendulums. However, in practice, the existence of lifting hook usually makes the crane …
pendulums. However, in practice, the existence of lifting hook usually makes the crane …