Search
CSV
RISFixed-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 ...
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 ...