Iterative Learning Tracking Control for a Vehicle-Manipulator System With Input Constraint
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Access"
DOI: 10.1109/access.2023.3253575
Abstract: In this study, tracking control and saturation nonlinearities problems of a flexible mobile vehicle-manipulator with disturbance uncertainty are investigated. Based on differential equations model, a novel iterative learning control (ILC) algorithm is designed, where two… read more here.
Keywords: vehicle manipulator; iterative learning; control; tracking control ... See more keywords
Hydrodynamics of a Flexible Flipper for an Underwater Vehicle-Manipulator System
Sign Up to like & getrecommendations! Published in 2022 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2021.3073690
Abstract: Motivated by the requirement for developing a lightweight and nimble underwater vehicle-manipulator system (UVMS), this article presents a novel design of the overall framework and the functional modules for a flippers-driven UVMS (F-UVMS), which is… read more here.
Keywords: hydrodynamics; underwater vehicle; flexible flipper; manipulator system ... See more keywords
A new redundancy resolution for underwater vehicle–manipulator system considering payload
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DOI: 10.1177/1729881417733934
Abstract: For the motion coordination problem between the underwater vehicle and manipulator of the underwater vehicle–manipulator system, a new redundancy resolution method is proposed and investigated. The proposed method mainly has two parts: a fuzzy logic… read more here.
Keywords: vehicle manipulator; redundancy resolution; manipulator system; underwater vehicle ... See more keywords
Robust tracking control of an underwater vehicle and manipulator system based on double closed-loop integral sliding mode
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881420941778
Abstract: A nonlinear robust control method for the trajectory tracking of the underwater vehicle and manipulator system that operates in the presence of external current disturbances is proposed using double closed-loop integral sliding mode control. The… read more here.
Keywords: system; control; manipulator system; vehicle manipulator ... See more keywords