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Linear Algebra Based Control: Application to a Second Order Chained FormSystem
(Institute of Electrical and Electronics Engineers, 2021-09)
Control of underactuated systems with non-holonomic constraints has been an issue of interest in recent years. These systems are hard to control because their linearization makes them uncontrollable and current approaches ...
Whole-body kinematic control of nonholonomic mobile manipulators using linear programming
(Universidade Federal de Minas GeraisUFMG, 2017-03-03)
This work presents the study and implementation of the robot kinematic control strategy based on linear programming recently proposed by Gonçalves et al. (2016). In addition to being computationally efficient, this approach ...
Virtual simulator for mobile robots navigation systems
(2008-10-13)
This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and ...
Virtual simulator for mobile robots navigation systems
(2008-10-13)
This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and ...
Sliding Mode Control for Trajectory Tracking of a Non-holonomic Mobile Robot using Adaptive Neural Networks
(Romanian Society of Control Engineering and Technical Informatics, 2014-10)
In this work a sliding mode control method for a non-holonomic mobile robot using an adaptive neural network is proposed. Due to this property and restricted mobility, the trajectory tracking of this system has been one ...
Formation control of nonholonomic vehicles under time delayed communications
(2015-04-30)
This document considers the formation control
problem for a group of nonholonomic mobile robots under time
delayed communications. The agents are assumed to be working
under a directed and fixed communication topology. ...
Cascade Sliding Control for Trajectory Tracking of a Nonholonomic Mobile Robot with Adaptive Neural Compensator
(Hindawi Publishing Corporation, 2017-07)
A design of sliding mode controllers (SMC) with adaptive capacity is presented. This control technique is formed by two cascaded SMC controllers, one of them having an adaptive neural compensator (ANC); both are put on a ...