In this paper, we investigate the adaptive control problem for robot manipulators with both uncertain kinematics and dynamics. We propose two schemes to realize objective of task-space trajectory tracking irrespective The proposed controllers have desirable separation property, also show that first controller appropriate modifications can yield improved performance, without expense conservative gain choice. performance is shown by numerical simulations.

This technical note addresses the consensus problem of networked uncertain mechanical systems which interact on directed graphs containing a spanning tree and are subjected to nonuniform communication delays. The challenge lies in unclear input-output property linear system delays convergent this under an external input. We establish new moreover its input, upon which, we unified framework resolve multiple systems. proposed unifies/extends existing results addition yields fully cascaded...

In this technical note, we investigate the task-space synchronization for networked robots interconnected on strongly connected graphs with both uncertain kinematics and dynamics. A cascade framework is proposed to facilitate controller design robotic systems. Under framework, propose an adaptive scheme indirect/direct kinematic parameter adaptations a direct dynamic adaptation robots. We employ passive decomposition approach show asymptotic of system, demonstrate that control capable...

Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state available or not, two distributed protocols are proposed to ensure that states all agents can be convergent a same stationary value. In protocols, gain vector associated with (estimated) and relative between designed sophisticated way. By particular design, system transformed into first-order system. Also, convergence...

The work presented here investigates task-space trajectory tracking control for free-floating space robots with uncertain kinematics and dynamics. To deal these two kinds of uncertainties, we propose a prediction error based adaptive Jacobian controller, which includes modified computed torque controller least-squares estimators. By defining new variable that is termed as the estimate spacecraft angular acceleration, proposed can without requiring measurement acceleration. kinematic dynamic...

Modern applications of robotics typically involve a robot control system with an inner proportional-integral (PI) or proportional-integral-derivative (PID) loop and outer user-specified for specifying the velocity (or position) command. Most existing controllers, however, do not take into consideration dynamic effects robots their effectiveness relies on ad hoc assumption that PI PID is fast enough, other torque-based controllers cannot be implemented in closed architecture. This paper...

AbstractIn this paper, we investigate the flocking problem for multiple uncertain mechanical systems interacting on directed topologies. We propose an integral-sliding adaptive control to realise objective of flocking, which gives rise a cascade closed-loop system, and also new notion – iBIBO (integral-bounded-input bounded-output) stability characterise input–output property special class dynamical systems, is then used analysis system. With proposed tool Lyapunov-like approach, show that...

Separation of the kinematic and dynamic loops is important for industrial/commercial robotic applications (i.e., designing control schemes) also simplifying controller structure, but most visual servoing algorithms in literature, due to lack such separation, are hard be justified as applied systems with a hidden inner loop. In this brief, we investigate how passivity nonlinear feedback used realize objective separation tracking parametric uncertainty time-varying depth, case no image-space...

Abstract Inflammatory response plays an important role in ischaemia reperfusion injury (IRI) through a variety of inflammatory cells. Apart from neutrophils, macrophages and lymphocytes, the dendritic cells (DCs) IRI has been noticed. The study was aimed at investigating whether high‐mobility group protein box‐1/toll like receptor 4 (HMGB1/TLR4) signalling pathway regulate migration, adhesion aggregation DCs to myocardium, induce activation maturation, stimulate expression surface...

Both the mean contact force difference and standard deviation of were minimised in presented optimised design a pantograph–catenary system for purposes improving current collection quality reduction wear. The non-dominated sorting genetic algorithm-II (NSGA-II) was applied to optimise interaction system. adopted NSGA-II algorithm improved by avoiding repetition FEM simulations with duplicated input parameters retaining only one results next generation selection. Either catenary or pantograph...

This technical note addresses the second-order consensus problem of multiple underactuated thrust-propelled vehicles (TPVs) on directed graphs containing a spanning tree. We propose an adaptive control approach to resolve this problem, and proposed controller does not rely commonly used backstepping methodology exact knowledge mass properties TPVs. In addition, resultant complexity is reduced requirement interaction graph relaxed. Using input-output analysis, we show that realizes TPVs,...

In this note, we have proposed a prediction error based adaptive Jacobian controller to solve the problem of concurrent adaptation both uncertain kinematics and dynamics. This is composed modified computed torque two cushion floor least-square estimators, in ideal case perfect knowledge robot parameters it leads linear decoupled The kinematic dynamic adaptations are driven by errors. Using input-output stability analysis, show that end-effector motion tracking errors converge asymptotically....