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The problem of time-optimal trajectory design for high performance point-to-point positioning system under state and control constraints is considered. The proposed solution takes into account Coulomb and viscous friction. A particular structure for the trajectory is postulated, and conditions for its optimality are proven using the Pontryagin Maximum Principle. The explicit solution for the co-states...
This paper describes the verification of response speed and energy efficiency in compliance control. In compliance control, robots detect the external force and modify the trajectory depending on virtual impedance. In conventional compliance control, the control drive robots as soft for environment because robots are hardness. However, robots should be drived as both soft and hard to achieve dinamic...
This paper proposes a simplified integrated reproduction of saved motion components. For storing and reproduction of haptic information, a motion-copying system was proposed. By the motion-copying system, for example, techniques of experts can be reproduced by robots to improve work efficiency. In the skill reproduction by robots, it is possible to reproduce the various motion by integration of the...
Control for biped robots with toe and heel joints is researched for walking on uneven terrain. In conventional research, a switching impedance controller using rotational torque with the toe and heel joints for adaptation to unknown uneven terrain was proposed. In this research, that controller is modified for the adaptation using vertical reaction force. Additionally, a generation method of force...
This paper describes control of a rotary crane for the change of rope length. The load position and its sway control is designed by using the gain-scheduled H∞ controller. Furthermore, reference governor with the maximum constrained positively invariant (CPI) set is proposed for the time-variant system to give the reference input satisfying the input constraints and sway suppression.
This paper proposes an active steering method using adaptive sliding mode control to estimate the upper bounds of time-derived hyperplane and uncertainties of lateral forces. This is achieved by utilizing a state-dependent switching function based on state-dependent Riccati equation (SDRE) for the four-wheel-steering vehicle; it takes lateral force saturation characteristics into account. Our proposed...
A robust controller design method for high-maneuverable kinetic kill vehicle (KKV) whose attitude is controlled by combining aerodynamic tail fins and direct force is presented in this paper, which is a new algorithm based on adaptive approximation variable structure control (AAVSC) theory. Using this approach chatting problem which is due to the presence of infinite frequency switching function can...
Dynamic error of Platform inertial navigation system (INS) can be caused by vehicle movement, then the model of underwater vehicle will be built. The INS's working state can be decided by the controlling information of the underwater vehicle. This paper also gives the time when the submersible changes its motion state exactly. The INS's working state is switched at this time. This method can instead...
This contribution introduces a generic framework for sensor-based robot motion control. The key contribution is the introduction of an adaptive selection matrix for sensor-based hybrid switched-system control. The overall control system consists of multiple sensors and open- and closed-loop controllers, in-between which the adaptive selection matrix can switch discretely in order to supply command...
Although it is relative new, flocking control has been widely attended to coordinates the motions among multiple agents or robots stably based on potential principles. To provide a generic and efficient solution to the local minimum problem encountered within various flocking systems in unexpected and irregular obstacle environment, this paper presents a new design of a multi-model flocking control...
S-plane control is proved to be a feasible method with disadvantages at high speed in application to AUV motion control. To compensate the motion couple effect at high speed, a modified S-plane controller is proposed by analyzing AUV's dynamics and taking static force and coupling effects between longitude velocity and other dimensions into account. Besides the advantages of S controller such as simple...
In this paper, we propose a new dynamical model of a spherical multi-degree-of-freedom (DOF) ultrasonic motor (USM) and its fundamental control method based on nonholonomic mechanics. This system is analogous to the so-called rolling sphere manipulation system as far as the kinematics is concerned, but there is also an indispensable influence of the momentum dynamics. We propose multi-cycle phase...
Applications of 3 dimensional (3-D) virtual reality are now possible on current mobile phones due to the advances in mobile 3-D graphics technologies. However, the user-interface to these applications is generally still limited to the basic phone keypad which detracts from the sophisticated experience 3-D worlds can provide. In this paper we present a solution to this problem which utilizes the accelerometers...
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