This paper presents a new solution to the motion planning problem for nonlinear underactuated vehicles. The approach solves the problem by generating a polynomial curve connecting the desired initial and final positions for the vehicle and then using the curve to estimate the vehicle’s complete configuration along the trajectory. The algorithm introduces an iterative H∞filter to improve upon th...

In this paper we present the control of an underactuated brachiation robot with only one unactuated joint using the nonlinear model based predictive approach for the motion control. The robot used has 3 links, i. e., two arms and a body. We adopt the MPC to control the underactuated brachiation robot due to its advantages, mainly the construction of an optimal stabilizing control law and due to...

Underactuated systems are those processing fewer actuators than degrees of freedom. But generally they are difficult to control. In this paper we realize crawling motion by an underactuated robot. By changing the location of the fixed point of the robot to the environment, the constraint of the system is changed. Local accessibility of the system with changing the constraints as a nonhoronomic ...

A time-varying feedback control law including integral action is developed for the control of an underactuated ship. Exponential stability is proved, and experimental results are presented.

This paper presents an underactuated artificial hand intended for functional replacement of the natural hand in upper limb amputees. The natural hand has three basic functionalities: grasping, manipulation and exploration. To accomplish the goal of restoring these capabilities by implanting an artificial hand, two fundamental steps are necessary: to develop an artificial hand equipped with arti...

Dear Editor, This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify design controller, original model is transformed into a nonlinear cascade system minimum phase. Then, further processed equivalent reduced-order nonholonomic-like system. A discontinuous method proposed through combination state-scaling and state-depe...

We propose in this work the first model-based robust control method for a team of underactuated manipulators jointly manipulating a load. The method is based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load, combined with a variable structure controller. Singularities in the control method a...

Novel concept of feedback linearization is introduced for smooth asymptotic stabilization of underactuated spacecraft equipped with one and two degrees of actuation. The concept is based on generalized inversion, and is aimed at asymptotically realizing a perturbation from the unrealizable feedback linearizing transformation. A desired stable second-order linear dynamics in a norm measure of th...

A composite robust control scheme is proposed by combining a sliding mode controller with an adaptive fuzzy control algorithm to control a 3-DOF underactuated underwater vehicle with model parameter perturbations and environmental disturbances based on the backstepping control method and the Lyapunov stability theory. The adaptive fuzzy control algorithm is employed to compensate for model para...