Nonlinear control of flexible link robots and nonholonomic robotic systems
Nonlinear control of flexible link robots and nonholonomic robotic systems
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Modeling and control of flexible link robots
... representations of the position of the flexible link By generalizing the modeling of single link robot, the modeling of a n -link robot is presented From the simulation results of the proposed controller ... can be directly controlled by motors, and thus the number of the variables to be controlled is equal to the number of the control inputs For flexible link...
DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 1
... mR ˜ F1 ˜ ˜ F = F2 ˜ F3 ˜ B = 0 u1 ˜ 12 0 , u = uβa B (1. 10) (1. 11) (1. 12) (1. 13) 2 ˜ M 11 = Ixf + Ixw + Ixw Cβ + mR2 Cβ + Ixf Cββa (1. 14) ˜ M13 = 2Ixw Cβ + mR2 Cβ (1. 15) ˙ ˙˙ ˜ F1 = (Ixw ... simplification and assumption, the dynamics becomes( [16 ] and [18 ]): ˙ βa = uβa ˜ q ¨ ˜ q ˜ ˜˜ ˙ M (˜)q = F (˜, q ) + B u ˜ 13 (1. 9) with α q = β ˜ γ ˜ ˜ M 11 M13 ˜ M =...
DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 2
... (4 .22 ) 2IxW + mR2 M13 IxF IxF F1 0 u1 F 0 0 F = 2 , B = ,u = u2 F3 1 0 F4 where, M11 = IxF + IxW + IxW cos2 β + mR2 cos2 β + IxF cos2 (β + βa ) M13 = 2IxW ... + mR2 ) cos β sin β 2 − IxF cos (β + βa )sin(β + βa ) 2 ˙ ˙ −(2IxW + mR2 ) sin β αγ − 2IxF sin (β + βa )αγa ˙˙ ˙˙ F3 = 2( IxW + mR2 ) sin β αβ ˙ ˙ F4 = −IxF cos (β + βa ) sin (β + βa ) 2 − 2IxF...
Comprehensive modeling and robust nonlinear control of HDD servo systems
... budget on HDD servo systems, and hence more demanding tasks with the modeling and control design This calls for a more careful study of the dynamic characteristics of HDD servo mechanism and further ... towards modeling and compensation of friction and nonlinearities in HDD servo systems These are the main points of this chapter In the next chapter, or C...
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... the effects of purple membrane lipids on both the M turnover time constants and the flexibility of the bacteriorhodopsin transmembrane a-helices Materials and methods Purple membranes were extracted ... Fig Infrared spectra from 1710 to 1490 cm-1 of native purple membrane (solid line), purple membrane exposed briefly to Triton (dashed line), and purple membr...
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Novel control of lettuce downy mildew and anthracnose docx
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Báo cáo y học: "Continuous control of endotracheal cuff pressure and tracheal wall damage: a randomized controlled animal study" pot
... Abdelatti MO: A cuff pressure controller for tracheal tubes and laryngeal mask airways Anaesthesia 1999, 54:981-986 Resnikoff E, Katz JA: A modified epidural syringe as an endotracheal tube cuff ... cuff pressure- controlling device Anesth Analg 1990, 70:208-211 Yoneda I, Watanabe K, Hayashida S, Kanno M, Sato T: A simple method to control tracheal cuff pressure i...
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design and implementation of an inverse dynamics controller for uncertain nonholonomic robotic systems
... Convergence and Robustness Prentice-Hall, Engle-wood Cliffs, NJ (1989) Campion, G., d’Andrea-Novel, B., Bastin, G.: Modeling and State Feedback Control of Nonholonomic Mechanical Systems In: ... Proceedings of the 30th Conference on Decision and Control, IEEE, pp 1184–1189 England (1991) Campion, G., d’Andrea-Novel, B., Bastin, G.: Controllability and state feedback stabilizat...
control of wheeled mobile robots an experimental overview
... charge of the execution of the high-level velocity commands For each wheel, an 8-bit ST6265 microcontroller imple- Control of Wheeled Mobile Robots: An Experimental Overview PC ROBOT ωL PID microcontroller ... facts: Control of Wheeled Mobile Robots: An Experimental Overview 37 • The unicycle reaches the origin with a horizontal tangent (θ = or π), because...
Boundary control of flexible mechanical systems
... Rotation of the Timoshenko beam without control 136 xi List of Figures 6.4 Displacement of the Timoshenko beam with boundary control 136 6.5 Rotation of the Timoshenko beam with boundary ... chemical process control, vibration suppression of flexible mechanical systems, etc Recent progress in the boundary control is summarized in [46] An overview on the boundary co...
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