Normalised-generalised-velocity-component-based controller for a rigid serial manipulator

Modified set-point controller for underwater vehicles

“…The motion of AUV is described by (7) and (4) together with (8). The equations of motion are decoupled in the sense that the new inertia matrix is the identity matrix and the time derivatives of ζ i , i.e.ζ i (i = 1, · · · , 6) are independent each other.…”

Non-Adaptive Sliding Mode Controllers in Terms of Inertial Quasi-Velocities

“…From the above derivation arises that Herman (2005b;2006) is an extension of the method Loduha & Ravani (1995) and it is based on the NGVC with M(θ)=Φ T Φ. Hence the two first-order equations (the diagonalized equation of motion and the velocity transformation equation) for rigid manipulator can be rewritten in the form:…”

“…The IQV mean that the quasi-velocities contain the kinematic and dynamic parameters of a rigid manipulator as well as its geometrical dimensions. In spite that there exist several IQV, only some of them are considered here, namely: the GVC described in Loduha & Ravani (1995), the NQV given in Jain & Rodriguez (1995), and the NGVC presented in Herman (2005b;2006). It is because these kind of IQV very well explain the idea of non-adaptive sliding mode control in terms of the quasi-velocities.…”

“…in Kane & Levinson (1983). Finally, also the normalized generalized velocity components (NGVC) are considered in references Herman (2005b;2006). The NGVC are a useful form of the GVC.…”

Velocity Controller for a Class of Vehicles

“…There are various decomposition methods of the matrix M . In this paper, we refer to the method described in [14] which is based on generalized velocity components introduced in [19] and applied for robotics manipulators in [15]. The decomposition strategy is easy comprehensible and convenient for numerical implementation.…”