A5008533068- Adaptive Control of Nonlinear Systems
- Dynamics and Control of Mechanical Systems
- Hydraulic and Pneumatic Systems
- Robotic Mechanisms and Dynamics
- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Elasticity and Material Modeling
- Magnetic Bearings and Levitation Dynamics
- Control and Stability of Dynamical Systems
- Soft Robotics and Applications
- Micro and Nano Robotics
Southeast University
2022-2024
In this paper, we study the trajectory planning and tracking control for Pendubot, which is a two-link robot has single actuator at base joint of first link. We realize fast swing-down under sinusoidal-derivative (SD) controller introduces damper spring, obtain desired state input by using time-reversal method. To track such trajectory, derive linearized time-varying model Pendubot around design linear feedback along with feedforward term determined input. several obtained trajectories focus...
In this paper, we study the balance control for rotary inverted pendulum system with two joints both subject to uncertainty. To facilitate experiment, apply a classical energy-based swing-up control, eschewing compensation employ novel approach in form of modified signal compensation-based which models uncertainty as its previously sampled term and variation. The involves three steps. First, linearized discrete-time state-space model around upright equilibrium point, design main by using...
As a typical underactuated experimental platform for robotics and control theory, the rotary inverted pendulum (RIP) system is nonlinear, multi-variable, strongly coupled. We study swing-up balance RIP with uncertainty. The classical energy-based without compensation uncertainty signal compensation-based are adopted. In control, from linearized state-space model near upright equilibrium point (UEP) estimated discrete-time model, constructed to eliminate suppress Simulation results verify...
In this paper, we study a ring gymnastic robot, which is planar robot with three links moving in the vertical plane only last joint activated. First, use energy-based strategy to swing-up control task of rings and obtain sufficient necessary condition for non-existence singularities controller. Second, derive invariant set approached by closed-loop system. Third, propose an optimization algorithm parameters controller swing up into close neighbourhood desired equilibrium point. Fourth, check...