Interval-Arithmetic-Based Robust Control of Fully Actuated Mechanical Systems
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2021.3118488
Abstract: We propose a control approach for fully actuated mechanical systems using interval arithmetic, which guarantees global uniform ultimate boundedness of the tracking error and robust performance despite model uncertainties and input disturbances. Existing robust control… read more here.
Keywords: interval arithmetic; mechanical systems; fully actuated; control ... See more keywords
The Modeling of Redundantly Actuated Mechanical Systems
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4044540
Abstract: Dynamics modeling is essential in the design and control of mechanical systems, the focus of the paper being redundantly actuated systems, which bring about special challenges. The authors resort to the natural orthogonal complement (NOC),… read more here.
Keywords: methodology; actuated mechanical; redundantly actuated; mechanical systems ... See more keywords