Control for Underactuated Systems Using Sliding Mode Observer
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-016-0730-2
Abstract: In this work, first we estimate all the system’s state vector, with guarantied precision, for a category of second order underactuated mechanical systems (UMS), exploiting the triangular observer (TO) model that suits to the structure… read more here.
Keywords: systems using; sliding mode; control; underactuated systems ... See more keywords
Dual Adaptive Neural Network Controller for Underactuated Systems
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DOI: 10.1017/s0263574720001125
Abstract: SUMMARY A new stable adaptive controller based on a neural network for underactuated systems is proposed in this paper. The control scheme has been developed for two underactuated systems as examples. The Furuta pendulum and… read more here.
Keywords: neural network; controller; underactuated systems; dual adaptive ... See more keywords
A New Nonlinear Control for Asymptotic Stabilization of a Class of Underactuated Systems: An Implementation to Slosh-Container Problem
Sign Up to like & getrecommendations! Published in 2017 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2016.2636251
Abstract: In this paper, a new control law is proposed for the nonlinear underactuated system. It is proved that the proposed control achieves asymptotic stability of the whole system. A broad class of underactuated systems, termed… read more here.
Keywords: system; slosh container; class; control ... See more keywords
Coordination of a Class of Underactuated Systems via Sampled-Data-Based Event-Triggered Schemes
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Systems, Man, and Cybernetics: Systems"
DOI: 10.1109/tsmc.2020.3048201
Abstract: This article investigates the coordination of a class of underactuated systems subject to limited energy supply and channel bandwidth and aims to stabilize system states and exclude Zeno behaviors simultaneously. First, by means of event-triggered… read more here.
Keywords: event triggered; class underactuated; underactuated systems; coordination class ... See more keywords
Adaptive Neural Network Output Feedback Control of Uncertain Underactuated Systems With Actuated and Unactuated State Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Systems, Man, and Cybernetics: Systems"
DOI: 10.1109/tsmc.2021.3131843
Abstract: Underactuated systems are widely applied in industry, construction, manufacturing, etc., and the complex working environment puts forward higher demands for safety and transient performance. Hence, it is necessary to consider how to simultaneously ensure actuated… read more here.
Keywords: state; control; actuated unactuated; uncertain underactuated ... See more keywords