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    Wyświetlanie 1-5 z 5
    Tytuł:
    Control of a unicycle-like robot with trailers using transverse function approach
    Autorzy:
    Pazderski, D.
    Kozłowski, K.
    Waśkowicz, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/201599.pdf
    Data publikacji:
    2012
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    transverse functions
    vehicle with trailers
    nonholonomic system
    control motion task
    Lie group
    Opis:
    The paper presents the application of a smooth kinematic algorithm to control multi-body vehicle which consists of the unicyclelike tractor with three trailers. The controller takes advantage of the transverse functions and properties of the IV-order two input chained system. The derivation of the algorithm is presented in details. In order to improve the performance of the controller in the real application a selected tuning techniques are discussed. The properties of the closed-loop control system are examined based on results of numerical simulations concerning the point stabilization and trajectory tracking tasks.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 557-579
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A robust smooth controller for a unicycle-like robot
    Autorzy:
    Pazderski, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/229667.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    transverse functions
    nonholonomic system
    control motion task
    Lie group
    navigation vector fields
    smooth feedbacks
    Opis:
    In this paper, a stabilizer dedicated for a unicycle-like robot is considered. The proposed smooth control law ensures the global boundedness of position and orientation trajectories to a neighbourhood of the desired point with an arbitrarily selected radius and it is robust to bounded additive measurement noises. The controller consists of a smooth hybrid navigation algorithm and a smooth feedback based on the transverse function approach. The stability proof, simulation and experimental results illustrating properties of the algorithm are discussed.
    Źródło:
    Archives of Control Sciences; 2018, 28, 1; 155-183
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory tracking control of a mobile manipulator with an external force compensation
    Autorzy:
    Galicki, Mirosław
    Powiązania:
    https://bibliotekanauki.pl/articles/2086828.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    non-holonomic mobile manipulator
    unstructured external forces
    trajectory tracking
    robust task space control
    Lyapunov stability
    nieholonomiczny manipulator mobilny
    siły zewnętrzne nieustrukturyzowane
    śledzenie trajektorii
    solidna kontrola przestrzeni zadań
    stabilność Lapunova
    Opis:
    This paper considers the problem of the accurate task space finite-time control susceptible to both undesirable disturbance forces exerted on the end-effector and unknown friction forces coming from joints directly driven by the actuators as well as unstructured forces resulting from the kinematic singularities appearing on the mechanism trajectory. We obtain a class of estimated extended transposed Jacobian controllers which seem to successfully counteract the external disturbance forces on the basis of a suitably defined task-space non-singular terminal sliding manifold (TSM) and the Lyapunov stability theory. Moreover, in order to overcome (or to minimise) the undesirable chattering effects, the proposed robust control law involves the second-order sliding technique. The numerical simulations (closely related to an experiment) ran for a mobile manipulator consisting of a non-holononic platform of (2;0) type and a holonomic manipulator of two revolute kinematic pairs show the performance of the proposed controllers and make a comparison with other well-known control schemes.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 5; e137943, 1--11
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Control of a planar robot in the flight phase using transverse function approach
    Autorzy:
    Pazderski, D.
    Kozłowski, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/201212.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    transverse functions
    hopping robot
    space manipulator
    nonholonomic system
    control motion task
    systems on Lie groups
    skaczący robot
    manipulator przestrzenny
    nieholonomiczny układ
    Opis:
    This paper deals with stabilization and tracking control problems defined with respect to a planar mechanical structure similar to Raibert’s robot. The proposed control solution is based on formal analysis of the control system on a Lie group. In order to take advantage of Lie group theory a dynamic extension of the robot kinematics is introduced. To cope with non-zero angular momentum the controller based on transverse functions is employed. Properties of the closed-loop control system are investigated based on simulations including practical stabilization at neighborhood of a constant point or a reference trajectory.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 759-770
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A new elastic scheduling task model in the node of a control and measurement system
    Autorzy:
    Miczulski, W.
    Powroźnik, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/220884.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    task scheduling
    elastic scheduling task model
    heuristic algorithms
    measurement and control systems
    time deadline fulfilment
    Opis:
    The paper presents a new elastic scheduling task model which has been used in the uniprocessor node of a control measuring system. This model allows the selection of a new set of periods for the occurrence of tasks executed in the node of a system in the case when it is necessary to perform additional aperiodic tasks or there is a need to change the time parameters of existing tasks. Selection of periods is performed by heuristic algorithms. This paper presents the results of the experimental use of an elastic scheduling model with a GRASP heuristic algorithm.
    Źródło:
    Metrology and Measurement Systems; 2013, 20, 1; 87-98
    0860-8229
    Pojawia się w:
    Metrology and Measurement Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-5 z 5

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