Displaying similar documents to “Invariant subspaces for grasping internal forces and non-interacting force-motion control in robotic manipulation”

A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms

Paolo Mercorelli (2012)

Kybernetika

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In this paper the control of robotic manipulation is investigated. Manipulation system analysis and control are approached in a general framework. The geometric aspect of manipulation system dynamics is strongly emphasized by using the well developed techniques of geometric multivariable control theory. The focus is on the (functional) control of the crucial outputs in robotic manipulation, namely the reachable internal forces and the rigid-body object motions. A geometric control procedure...

Control of the underactuated mechanical systems using natural motion

Zdeněk Neusser, Michael Valášek (2012)

Kybernetika

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The paper deals with the control of underactuated mechanical systems between equilibrium positions across the singular positions. The considered mechanical systems are in the gravity field. The goal is to find feasible trajectory connecting the equilibrium positions that can be the basis of the system control. Such trajectory can be stabilized around both equilibrium positions and due to the gravity forces the mechanical system overcomes the singular positions. This altogether constitutes...

Sliding subspace design based on linear matrix inequalities

Alán Tapia, Raymundo Márquez, Miguel Bernal, Joaquín Cortez (2014)

Kybernetika

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In this work, an alternative for sliding surface design based on linear and bilinear matrix inequalities is proposed. The methodology applies for reduced and integral sliding mode control, both continuous- and discrete-time; it takes advantage of the Finsler's lemma to provide a greater degree of freedom than existing approaches for sliding subspace design. The sliding surfaces thus constructed are systematically found via convex optimization techniques, which are efficiently implemented...

Consensus and trajectory tracking of SISO linear multi-agent systems under switching communication topologies and formation changes

Carlos López-Limón, Javier Ruiz, Alejandro Cervantes-Herrera, Antonio Ramírez-Treviño (2013)

Kybernetika

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The simultaneous problem of consensus and trajectory tracking of linear multi-agent systems is considered in this paper, where the dynamics of each agent is represented by a single-input single-output linear system. In order to solve this problem, a distributed control strategy is proposed in this work, where the trajectory and the formation of the agents are achieved asymptotically even in the presence of switching communication topologies and smooth formation changes, and ensuring...

Distributed output regulation for linear multi-agent systems with unknown leaders

Xinghu Wang, Haibo Ji, Chuanrui Wang (2013)

Kybernetika

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In this paper, the distributed output regulation problem of linear multi-agent systems with parametric-uncertain leaders is considered. The existing distributed output regulation results with exactly known leader systems is not applicable. To solve the leader-following with unknown parameters in the leader dynamics, a distributed control law based on an adaptive internal model is proposed and the convergence can be proved.