Explicit control laws for the periodic motion planning of controllable driftless systems on SU(n)

2012 ◽  
Author(s):  
H. B. Silveira ◽  
P. S. Pereira da Silva ◽  
P. Rouchon
Keyword(s):  
Motion Planning ◽  
Periodic Motion ◽  
Control Laws

Periodic motion planning for virtually constrained Euler–Lagrange systems

2006 ◽  
Vol 55 (11) ◽  
pp. 900-907 ◽  
Author(s):  
A. Shiriaev ◽  
A. Robertsson ◽  
J. Perram ◽  
A. Sandberg
Keyword(s):  
Motion Planning ◽  
Periodic Motion

scholarly journals Nonholonomic Motion Planning Strategy for Underactuated Manipulator

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Liang Li ◽  
Yuegang Tan ◽  
Zhang Li
Keyword(s):  
Motion Planning ◽  
Sensitivity Matrix ◽  
Control Laws ◽  
Planning Strategy ◽  
Initial Errors ◽  
Control Precision ◽  
Underactuated Manipulator ◽  
Mathematical Techniques ◽  
Approximation Capability ◽  
Nonholonomic Motion Planning

This paper develops nonholonomic motion planning strategy for three-joint underactuated manipulator, which uses only two actuators and can be converted into chained form. Since the manipulator was designed focusing on the control simplicity, there are several issues for motion planning, mainly including transformation singularity, path estimation, and trajectory robustness in the presence of initial errors, which need to be considered. Although many existing motion planning control laws for chained form system can be directly applied to the manipulator and steer it to desired configuration, coordinate transformation singularities often happen. We propose two mathematical techniques to avoid the transformation singularities. Then, two evaluation indicators are defined and used to estimate control precision and linear approximation capability. In the end, the initial error sensitivity matrix is introduced to describe the interference sensitivity, which is called robustness. The simulation and experimental results show that an efficient and robust resultant path of three-joint underactuated manipulator can be successfully obtained by use of the motion planning strategy we presented.

Periodic motion planning and nonlinear ℋ∞tracking control of a 3-DOF underactuated helicopter

2011 ◽  
Vol 42 (5) ◽  
pp. 829-838 ◽  
Author(s):  
Iliana M. Meza-Sánchez ◽  
Luis T. Aguilar ◽  
Anton Shiriaev ◽  
Leonid Freidovich ◽  
Yury Orlov
Keyword(s):  
Motion Planning ◽  
Periodic Motion ◽  
Tracking Control

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Jai Raj ◽  
Krishna Raghuwaiya ◽  
Bibhya Sharma ◽  
Jito Vanualailai
Keyword(s):  
Motion Planning ◽  
Control Problem ◽  
Motion Control ◽  
Dynamic Environment ◽  
Continuous Control ◽  
Control Laws ◽  
Planning And Control ◽  
Control Scheme ◽  
And Control ◽  
Emergent Behaviors

SUMMARY This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

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