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TSMC
2008

Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact Collision

13 years 11 months ago
Adaptive Lyapunov-Based Control of a Robot and Mass-Spring System Undergoing an Impact Collision
The control of dynamic systems that undergo an impact collision is both theoretically challenging and of practical importance. An appeal of studying systems that undergo an impact is that short-duration effects such as high stresses, rapid dissipation of energy, and fast acceleration and deceleration may be achieved from low-energy sources. However, colliding systems present a difficult control challenge because the equations of motion are different when the system suddenly transitions from a noncontact state to a contact state. In this paper, an adaptive nonlinear controller is designed to regulate the states of two dynamic systems that collide. The academic example of a planar robot colliding with an unactuated mass
Keith Dupree, Chien-Hao Liang, Guoqiang Hu, Warren
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2008
Where TSMC
Authors Keith Dupree, Chien-Hao Liang, Guoqiang Hu, Warren E. Dixon
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