Model-Based Adaptive Collaboration of Multi-Terminal Internal Force Tracking

Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control

In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

Multi-camera tracking using a Multi-Goal Social Force Model

Tracking across non-overlapping cameras is a challenging open problem in video surveillance. In this paper, we propose a novel target re-identification method that models movements in non-observed areas with a modified Social Force Model (SFM) by exploiting the map of the site under surveillance. The SFM is developed with a goal-driven approach that models the desire of people to reach specific...

Design of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators

This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...

Adaptive Parallelization of Model-Based Head Tracking

Experiments in Adaptive Model-Based Force Control

This paper reports preliminary experiments with a provably correct model-based adaptive robot control algorithm for simultaneous position and force trajectory tracking of a robot arm whose gripper is in point contact with a smooth surface. The comparative experiments show the new adaptive model-based controller offers performance superior to that of its non-model-based counterpart over a wide v...