Constrained tension control of a tethered space-tug system with only length measurement
The paper presents a tension control law to stabilize the motions of a Tethered Space-Tug
system during its deorbiting process by regulating the tension in the tether. The tension …
system during its deorbiting process by regulating the tension in the tether. The tension …
Robust finite-time control approach for robotic manipulators
In this study, a new robust finite-time stability control approach for robot systems is
developed based on finite-time Lyapunov stability principle and proved with backstepping …
developed based on finite-time Lyapunov stability principle and proved with backstepping …
A fast robotic arm gravity compensation updating approach for industrial application using sparse selection and reconstruction
With the increasing complexity of robot tasks in the industrial field, sometimes the
manipulator needs to change the payload or replace end-effectors frequently in a period of …
manipulator needs to change the payload or replace end-effectors frequently in a period of …
Saturated RISE feedback control for a class of second-order nonlinear systems
A saturated controller is developed for a class of uncertain, second-order, nonlinear systems
which includes time-varying and nonlinearly parameterized functions with bounded …
which includes time-varying and nonlinearly parameterized functions with bounded …
Toward lower limbs functional rehabilitation through a knee-joint exoskeleton
H Rifaï, S Mohammed, K Djouani… - IEEE Transactions on …, 2016 - ieeexplore.ieee.org
This paper presents a bounded control strategy of a knee-joint exoskeleton that ensures
knee flexion/extension movements during the assistance and rehabilitation processes. The …
knee flexion/extension movements during the assistance and rehabilitation processes. The …
Fuzzy dynamic surface control for uncertain nonlinear systems under input saturation via truncated adaptation approach
S Gao, B Ning, H Dong - Fuzzy Sets and Systems, 2016 - Elsevier
In this paper, a fuzzy control scheme is presented for uncertain nonlinear systems with input
saturation and external disturbance using truncated adaptation and dynamic surface control …
saturation and external disturbance using truncated adaptation and dynamic surface control …
Space tether deployment control with explicit tension constraint and saturation function
THE concept of space tethers has great potential in space exploration, but poses many
challenging and interesting problems at the same time [1]. They are mainly attributed to the …
challenging and interesting problems at the same time [1]. They are mainly attributed to the …
Design and preliminary evaluation of two tool support arm exoskeletons with gravity compensation
J Hull, R Turner, AT Asbeck - Mechanism and Machine Theory, 2022 - Elsevier
We present two new arm exoskeletons based on a pantograph linkage. The exoskeletons
can support a tool or load held in the hand of up to 9 kg. The pantograph linkage follows the …
can support a tool or load held in the hand of up to 9 kg. The pantograph linkage follows the …
The null-space-based behavioral control for mobile robots with velocity actuator saturations
In this paper we present the application of the Null-Space-based Behavioral (NSB)
approach to the motion control of mobile robots with velocity saturated actuators. The NSB is …
approach to the motion control of mobile robots with velocity saturated actuators. The NSB is …
A practical PID regulator with bounded torques for robot manipulators
V Santibañez, K Camarillo… - International Journal of …, 2010 - Springer
This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators.
Our controller considers the natural saturation problem given by the output of the control …
Our controller considers the natural saturation problem given by the output of the control …