in this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. it provides both robust tracking and load swing suppression. inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. the crane nonlinearities are then tr...

in order to determine the stability of underwater robots, their governing differential equations of motion in vertical and horizontal planes should be investigated. for horizontal plane stability, using routh stability criterion, four hydrodynamic coefficients, including derivatives of the lateral force and vertical moment with respect to sway and angular velocity are required. these coefficien...

The stability of the internal dynamics of a wheeled mobile robot is analyzed. It is shown that the wheeled mobile robot exhibits unstable internal dynamics when moving backwards. Most control methods of wheeled mobile robots are designed based on input-output relations. Since the internal dynamics are not represented in input-output relations, stability properties of the internal dynamics are g...

Meltran V, a new biped robot with telescopic legs, is introduced. For 3D walking control of the robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion is constrained to move along an arbitrarily de ned plane. From this analysis we obtain simple linear dynamics, the ThreeDimensional Linear Inverted Pendulum Mode (3DLIPM). Using a real-time control method based on ...

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning of mobile robot system simultaneously. In the learning controller (neural network based controller) the velocity dynamics learning control takes part in tra...

1.1 Robot manipulators Robot manipulators are well-known as nonlinear systems including strong coupling between their dynamics (Craig, 1996). These characteristics, in company with: 1) structured uncertainties caused by model imprecision of link parameters, payload variation, etc., and 2) unstructured uncertainties produced by un-modeled dynamics –such as nonlinear friction and external disturb...