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RISA Repetitive Learning Method Based on Sliding Mode for Robot Control With Actuator Saturation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a sliding mode based repetitive learning control method for highprecision tracking of robot manipulators with actuator saturation. Advantages of the proposed control include the absence of model parameter ...
Fixed-Time Inverse Dynamics Control for Robot Manipulators
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper concerns with global fixed-time trajectory tracking of robot manipulators. A simple nonlinear inverse dynamics control (IDC) is proposed by using bi-limit homogeneity technique. Lyapunov stability theory and ...
Fixed-Time Inverse Dynamics Control for Robot Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper concerns with global fixed-time trajectory tracking of robot manipulators. A simple nonlinear inverse dynamics control (IDC) is proposed by using bi-limit homogeneity technique. Lyapunov stability theory and ...
Global Output Feedback Finite-Time Regulation of Robot Manipulators Under Actuator Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the finite-time regulation problem of robot manipulators under saturated actuator inputs with position measurements only is addressed. A simple saturated finite-time proportional-derivative (PD) plus gravity ...
A New Nonsingular Terminal Sliding Mode Control for Rigid Spacecraft Attitude Tracking
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper addresses the finite time attitude tracking for rigid spacecraft with inertia uncertainties and external disturbances. First, a new nonsingular terminal sliding mode (NTSM) surface is proposed for singularity ...
Faster Positioning of One Degree-of-Freedom Mechanical Systems With Friction and Actuator Saturation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper concerns with faster positioning of one degree-of-freedom (1DOF) mechanical systems with friction and actuator saturation. A very simple but quite effective saturated relay proportional-derivative (PD) control ...
Faster Positioning of One Degree-of-Freedom Mechanical Systems With Friction and Actuator Saturation
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper concerns with faster positioning of one degree-of-freedom (1DOF) mechanical systems with friction and actuator saturation. A very simple but quite effective saturated relay proportional-derivative (PD) control ...
Single Robust Proportional-Derivative Control for Friction Compensation in Fast and Precise Motion Systems With Actuator Constraint
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper revisits the problem of global asymptotic positioning of uncertain motion systems subject to actuator constraint and friction. A simple model-free saturated control is proposed by incorporating a relay term ...
Fixed-Time Fault-Tolerant Attitude Tracking Control for Rigid Spacecraft
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper addresses the fixed-time attitude tracking problem of rigid spacecraft with inertial uncertainties, external disturbances, and partial loss of actuator effectiveness faults. A new fixed-time terminal sliding ...