In the positioning and anti-swing control of bridge crane, a model-free adaptive (MFAC) based on data-driven is proposed in order to eliminate dependence controller design model influence unmodeled dynamics uncertain disturbances performance. Only using input output data crane system, virtual full format dynamic linearized nonlinear system obtained through modeling method. On basis this model, ...

A new method is presented for controlling the trajectories of straight-line Cartesian paths near the kinematic singularities of simple manipulators. Conventional approachs to this problem, which typically employ a pseudo-inverse of the manipulator Jacobian, result in path deviations and have diiculty controlling joint accelerations. The more global approach described here uses a \potential func...

In this work we propose a set of tools for the parallel application of pseudo-arclength continuation to a class of systems for which the right hand side can be properly represented by a time numerically calculated evolution operator. For example, the reverse flow reactor and the reactors network with periodically switched inlet and outlet sections belong to this class of system. To conduct a dy...

We present a control approach combining model incremental learning methods with the operational space control approach. We learn the forward kinematics model of a robot and use standard algebraic methods to extract pseudo-inverses and projectors from it. This combination endows the robot with the ability to realize hierarchically organised learned tasks in parallel, using tasks null space proje...

Redundant robots that are kinematically controlled using Jacobian pseudo-inverses may not have repeatable joint motions, when the end-effector traces a closed path in the workspace. This phenomenon is known as joint drift. The joint drift problem was initially observed and analyzed by Klein and Huang[lO]. Shamir and Yomdin(l5J also analyzed this problem using differential geometric approach. Kl...

The control of a dual-arm robotic system in a manipulation task involving a exible load is considered in this paper. The task consists of following an environment surface without loss of contact. In contrast to other schemes for control of environment interaction, the method used here is purely kinematic, taking advantage of load exibility for keeping contact with the surface. A kinematic descr...

We derive a complex form of the unconstrained and constrained Cramér-Rao lower bound (CRB) of composite real parameters formed by stacking the real and imaginary part of the complex parameters. The derived complex constrained and unconstrained CRB is easy to calculate and possesses similar structure as in the real parameter case but with the real covariance, Jacobian and the Fisher information ...

This paper adresses the problem of nonlinear control allocation applied to marine vessels. An energy optimal solution combining a static and a dynamic non-recursive algorithm is proposed. Ships equipped with azimuth (rotatable) and tunnel ((xed) thrusters are considered. The static-solution gives the optimal orientation of the thrust forces corresponding to minimum use of power, whereas the dyn...

A new Jacobian approximation is developed for use in quasi-Newton methods for solving systems of nonlinear equations. The new hypersecant Jacobian approximation is intended for the special case where the evaluation of the functions whose roots are sought dominates the computation time, and additionally the Jacobian is sparse. One example of such a case is the solution of the discretized transpo...