Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Brogliato, Bernard

doi:10.1016/j.arcontrol.2022.12.002

Cited by 9 publications

(7 citation statements)

References 379 publications

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“…In [17], a time-invariant reference spreading controller is formulated to manipulate the object swiftly. Impact grabbing is studied more fundamentally and theoretically in [18], [19], where Linear Complementarity Systems (LCS) formulation is employed to synthesize controllers and study systems' stability in rich contact manipulation problems, and dual-grabbing as an example. In [20], grabbing is treated as a Stochastic Discrete-time LCS (SDLCS) solved by a chance-constrained based optimization.…”

Section: A Brief Backgroundmentioning

confidence: 99%

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Planning Impact-Driven Logistic Tasks

Zermane,

Dehio,

Kheddar

2024

IEEE Robot. Autom. Lett.

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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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Section: A Brief Backgroundmentioning

confidence: 99%

“…Despite not being a metric because of its asymmetry, it is proven reliable, parameter-free, and accounts for both position and velocity. As shown in Algorithm 1, a connection between two trees can be made if the randomly generated state Q r is successfully added to both trees (lines 16,[17][18][19][20][21][22]23).…”

Section: Impact-driven Trajectory Planningmentioning

confidence: 99%

Planning Impact-Driven Logistic Tasks

Zermane,

Dehio,

Kheddar

2024

IEEE Robot. Autom. Lett.

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“…This method suggested using a sequence of impulses and convoluting them with the system's command input signal to be compatible with the natural frequencies, as well as damping ratios of the actual system. The input shaping method can be applied to real overhead cranes without the sensors and feedback paths [23]; therefore, this method was popular at first. However, because its operation relies on the feedforward principle, the input shaping method cannot make the overhead crane to be stable, and it also cannot control the system's states to track the desired signals.…”

Section: A Motivations and Backgroundmentioning

confidence: 99%

A Novel Separation Principle-Based Stabilization for 6-Dof Overhead Crane Under Fault Injection Data Onslaught

Kim,

Manh Do,

Hoang

et al. 2023

IEEE Access

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This paper proposes a novel scheme for stabilization of the 6-DoF Overhead Crane to control the movements of this system without the state measurements through the separation principle. The movements of the system studied in this paper are described more closely than the existing crane model when considering six behaviors simultaneously: the movement of the trolley and the bridge, two swing angles along the x-axis and y-axis of the payload, the hoisting drum rotation, and axial payload oscillation. The mission of the proposal is to make all the above behaviors of the 6-DOF crane system to be stable accurately enough at the desired positions and minimize both the horizontal swings of the payload and the axial oscillation of the cable by utilizing information about the position of the trolley, the bridge, and the length of cable. To guarantee these objectives, a cooperation regime controller comprising a new asymptotic state observer which is elaborately constructed via a neural network, and the output feedback backstepping hierarchical sliding mode vehicle is integrated into the controller for improving the adaption of the closed-loop system. This cooperation controller is also evolved to prop up the fault injection data onslaught by eliminating all the information about the input system into the procedure. Furthermore, to enhance the flexibility of the closed scheme, an updating law for the observer's parameter is developed based on the data-driven principle. All of them are developed and designed not only to handle these above tasks but also to avoid the undesired finiteescape-time (FET) phenomenon. All the results are proven systematically by three theorems and validated their performance through two scenarios and simulated by Matlab/Simulink platform.INDEX TERMS Overhead Crane, adaptive state observer, nonlinear control, finite-escape-time phenomenon, separation principle-based output feedback control

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“…In particular, impacts and contacts have a very important role in the following cases having relevance in the robotics research: robot locomotion [19]- [22] (especially in the underactuated case [23]), aerial manipulation [24], robotic manipulation and grasping [25]- [27], hopping robots [28], and in all cases in which the backlash is relevant [29], [30]. For an extended survey of existing results and open challenges in the field, the interested reader is referred to [31].…”

Section: Introductionmentioning

confidence: 99%

Parameter Estimation of Nonsmooth Frictionless Impacts Through a Hybrid Observer

Galeani,

Menini,

Possieri

et al. 2024

IEEE Trans. Robot.

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Estimating the velocity of a mass involved in nonsmooth impacts is a challenging problem because of their hybrid nature, especially when the restitution coefficient and the orientation of the tangent line at the point of impact are unknown. In this paper, various hybrid observers are proposed for some families of mechanical systems to estimate the velocities, the restitution coefficient, and the orientation of the constraint, under the assumption that only the positions are measured. The stability properties of the corresponding error dynamics are proved, showing semi-global exponential convergence to zero. First, the performance of the proposed observer is tested in some simulation runs. Secondly, the analysis is carried out in experimental tests, by measuring the position of the impacting body through slow and fast camcorders, with a post-processing of the recorded video. A final experimental evaluation is done in real-time with a hardware architecture based on a Raspberry Pi.

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Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Cited by 9 publications

References 379 publications

Planning Impact-Driven Logistic Tasks

Planning Impact-Driven Logistic Tasks

A Novel Separation Principle-Based Stabilization for 6-Dof Overhead Crane Under Fault Injection Data Onslaught

Parameter Estimation of Nonsmooth Frictionless Impacts Through a Hybrid Observer

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