As important equipment in offshore engineering and freight transportation, shipboard cranes, working non-inertial coordination systems, are complicated nonlinear systems with strong couplings typical underactuation. To tackle the challenges controller design for boom which is a representative type of comprehensive framework embedding moving horizon estimation (MHE) model predictive control (MPC...

Abstract This paper presents a soft, tendon-driven, robotic glove designed to augment grasp capability and provide rehabilitation assistance for postspinal cord injury patients. The basis of the design is an underactuation approach utilizing postural synergies hand support large variety grasps with single actuator. lightweight, easy don, generates sufficient closing force assist activities dail...

This paper investigates the automatic berthing problem of underactuated surface vessels in case uncertain dynamics and yaw rate limitation, given importance control unmeasurable hydrodynamic parameters vessel at low speeds. First, we use differential homeomorphism coordinate transformation to solve underactuation. Second, a radial basis function network (RBF) is introduced approximate unknown n...

We investigate the problem of stabilising attitude an axially symmetric 3-D pendulum. The system is assumed to be actuated by two torques acting orthogonally symmetry axis. In process system, main difficulties are encountered: first, presence a well-known topological obstruction global stabilisation means continuous feedback laws, and second, fact that linearised around target equilibrium not c...

With the increasing number of applications for both surface and underwater autonomous vehicles, a great amount control methods guidance principles has been developed over years. This work proposes review most common these methods. It is mainly focused on model-based nonlinear principles. Notably, this details examples variations linearizing controllers, line sight guidance, sliding mode control...

The many degrees of freedom continuum robots (CRs) enable unique applications in the search and rescue, medical aerospace industries. However, motors required result unwieldy external actuation packs additional weight. Underactuation can achieve any pose with four by locking sections through clutching cables. Existing underactuated (UA) solutions are characterized lengthy joint times, add signi...

This study is aimed at addressing the adaptive leader–follower safety formation control problem for multiple quadrotors with limited measurement range, unknown disturbances, and thrust saturation. We develop a novel state-transformation-based unified design strategy to solve underactuation nonlinear input coupling problems of without dividing outer inner loop subsystems. First, state transforma...

Propeller failure is a major cause of multirotor unmanned aerial vehicles (UAVs) crashes. While conventional systems struggle to address this issue due underactuation, overactuated platforms can continue flying with appropriate fault-tolerant control (FTC). This article presents robust FTC controller for an UAV platform composed quadcopters mounted on passive joints, offering input redundancy a...

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of sources available. This task is challenging for reasons including hard-to-model dynamics, system's underactuation, and need using a prominent feedforward action to preserve safe robot behavior. To tackle this challenge, letter proposes purely iterative l...

Underactuation, impulsive nature of the impact with the environment, the existence of feet structure and the large number of degrees of freedom are the basic problems in control of the biped robots. Underactuation is naturally associated with dexterity [1]. For example, headstands are considered dexterous. In this case, the contact point between the body and the ground is acting as a pivot with...