Control Design and Analysis for Underactuated Robotic Systems

Abstract

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Design and practical implementation of kinematic constraints in Inertial Navigation System-Doppler Velocity Log (INS-DVL)-based navigation

“…In steering maneuvers, the roll and pitch angles are usually controlled to be constant, 6,[22][23][24] in this mode, the side slip constraint is usually applicable for ocean vehicles according to several references. 21,25 This constraint is also valid in our test setup experiment and used in the proposed navigation algorithm.…”

“…The steering (horizontal) maneuver is the most crucial and common mode in which the integrated navigation algorithms should be used because the depth (height) is measured quite accurately, and in this mode, it is better to directly measure the depth (height) and the pitch angle using depth meters and tilt meters. In steering maneuvers, the roll and pitch angles are usually controlled to be constant, in this mode, the side slip constraint is usually applicable for ocean vehicles according to several references . This constraint is also valid in our test setup experiment and used in the proposed navigation algorithm.…”

Swing‐Stabilization Up for a Rotatory‐Elastic Pendulum Via Nonlinear Sub‐Optimal Control

“…The first one, is to apply a control algorithm which guarantees that the system trajectory goes near the unstable equilibrium, usually by using nonlinear control. This fact is well‐known as the Swing‐Up control . When the system trajectory is near to the wanted equilibrium, the control algorithm switches to a stabilizing controller, then the control objective is reached .…”

Controllability and observability of ann‐link robot with multiple active links

“…Recently, there is increasing interest in, and increasing need for, the study of multi-link underactuated planar robots, for which the number of actuators is less than the degrees of freedom (DOF) [7][8][9]. One of the important control problems is the set-point control of a desired equilibrium point, that is, finding a feedback controller that makes the desired equilibrium point asymptotically [10][11][12][13][14][15].…”