Time-scaling in the Control of Mechatronic Systems

Kiss, Bálint; Szadeczky-Kardoss, Emese Gincsaine

doi:10.5772/6270

Cited by 3 publications

(3 citation statements)

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“…The concept of control with time-scaling was introduced by Hollerbach [15] to track the reference trajectories in a manipulator robot. It has also been implemented to control mechatronics systems, [16]. In [17], Chevallereau applied the time scaling control of the underactuated biped robot without feet and actuated ankles.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase

Bravo

2015

ing.cienc.

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This paper proposes human motion capture to generate movements for the right leg in swing phase of a biped robot restricted to the sagittal plane. Such movements are defined by time functions representing the desired angular positions for the joints involved. Motion capture performed with a Microsoft Kinect TM camera and from the data obtained joint trajectories were generated to control the robot's right leg in swing phase. The proposed control law is a hybrid strategy; the first strategy is based on a computed torque control to track reference trajectories, and the second strategy is based on time scaling control ensuring the robot's balance. This work is a preliminary study to generate humanoid robot trajectories from motion capture.

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Section: Introductionmentioning

confidence: 99%

Trajectory Generation from Motion Capture for a Planar Biped Robot in Swing Phase

Bravo

2015

ing.cienc.

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Section: Introductionmentioning

confidence: 99%

“…Verifying Guay's conditions requires the search of suitable generators for the associated Pfaffian system. Besides feedback linearization, time rescaling has also been used in constructing nonlinear observers and controllers [15][16][17][18].In this paper, we consider the orbital feedback linearization for a class of multi-input controlaffine systems. First, we work out of equilibria.…”

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confidence: 99%

Orbital feedback linearization for multi‐input control systems

Respondek

2014

Intl J Robust & Nonlinear

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SummaryA nonlinear control system is said to be orbital feedback linearizable if there exist an invertible static feedback and a change of time scale (depending on the state) which transform the system into a linear system. We give geometric necessary and sufficient conditions describing multi‐input control‐affine systems that are orbital feedback linearizable out of equilibria and in the case of equal controllability indices. We also describe a construction of the time rescaling needed to orbitally linearize the system. Moreover, we analyze close relations between orbital feedback linearizable control‐affine systems and control‐linear systems that are feedback equivalent to a multi‐chained form comparing geometric structures corresponding to both problems. We illustrate our results by two examples, one being a rigid bar moving in double-struckR3.Copyright © 2014 John Wiley & Sons, Ltd.

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