UNDERACTUATED

作品数：67被引量：169H指数：6
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相关领域：自动化与计算机技术更多>>
相关作者：李延新李光宇郭晨张冰吴敏更多>>
相关机构：北京航空航天大学大连交通大学大连海事大学天津科技大学更多>>
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Distributed predefined-time estimator-based affine formation target-enclosing maneuver control for cooperative underactuated quadrotor UAVs with fault-tolerant capabilities
《Chinese Journal of Aeronautics》2025年第1期471-490,共20页Yang XU Yuanfang QU Delin LUO Haibin DUAN Zhengyu GUO 
supported by Natural Science Basic Research Plan in Shaanxi Province of China(No.2023-JC-QN-0733);Guangdong Basic and Applied Basic Research Foundation,China(No.2022A1515110753);China Postdoctoral Science Foundation(No.2022M722583);China Industry-UniversityResearch Innovation Foundation(No.2022IT188);National Key Laboratory of Air-based Information Perception and Fusion and the Aeronautic Science Foundation of China(No.20220001068001)。
The paper presents a two-layer,disturbance-resistant,and fault-tolerant affine formation maneuver control scheme that accomplishes the surrounding of a dynamic target with multiple underactuated Quadrotor Unmanned Aer...
关键词：Affine formation maneuver control Target tracking Fixed-time control Quadrotor unmanned aerial vehicle Target enclosing Predefined-time estimation 
A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems被引量：1
《Journal of Automation and Intelligence》2024年第2期111-118,共8页Pingfan Liu Shaocheng Tong 
the National Natural Science Foundation of China under Grant U22A2043.
This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. ...
关键词：Underactuated wheeled mobile robots system FINITE-TIME Fuzzy adaptive fault-tolerant control OUTPUT-FEEDBACK Intermittent actuator faults 
Tracked robot with underactuated tension-driven RRP transformable mechanism:ideas and design
《Frontiers of Mechanical Engineering》2024年第1期85-104,共20页Ran XU Chao LIU 
supported by the Fundamental Research Funds for the Central Universities,China(Grant No.2022JBZY026).
Robots with transformable tracked mechanisms are widely used in complex terrains because of their high adaptability,and many studies on novel locomotion mechanisms have been conducted to make them able to climb higher...
关键词：mechanical design tracked robot underactuated mechanisms RRP mechanism obstacle crossing strategy 
Dynamic modeling and RBF neural network compensation control for space flexible manipulator with an underactuated hand被引量：2
《Chinese Journal of Aeronautics》2024年第3期417-439,共23页Dongyang SHANG Xiaopeng LI Meng YIN Fanjie LI 
supported by the National Natural Science Foundation of China(No.52275090);the Fundamental Research Funds for the Central Universities(No.N2103025);the National Key Research and Development Program of China(No.2020YFB2007802);the Applied Basic Research Program of Liaoning Province(No.2023JH2/101300159)。
In space operation,flexible manipulators and gripper mechanisms have been widely used because of light weight and flexibility.However,the vibration caused by slender structures in manipulators and the parameter pertur...
关键词：Space flexible manipulator RBF neural network Underactuated hand Dynamic models Model simplification 
Structure-free containment control for uncertain underactuated multiple Euler-Lagrange systems
《Science China(Information Sciences)》2023年第11期146-164,共19页Housheng SU Yali WU Liren ZHANG Xia CHEN 
supported in part by National Natural Science Foundation of China(Grant Nos.61991412,62273159,U22A6007);rogram for HUST Academic Frontier Youth Team(Grant No.2018QYTD07)。
This article studies the problem of structure-free distributed containment control for uncertain underactuated multiple Euler-Lagrange systems(MELSs)considering disturbances by using a layered approach.First,the secon...
关键词：Euler-Lagrange systems underactuated system containment control adaptive-robust control 
Path Following of Underactuated Autonomous Surface Vessels With Surge Velocity Constraint and Asymmetric Saturation
《IEEE/CAA Journal of Automatica Sinica》2023年第5期1343-1345,共3页Yalei Yu Chen Guo Tieshan Li 
supported by the National Natural Science Foundation of China (51879027, 51939001, 61976033, 51579024, 61374114, 51809028);the Liaoning Revitalization Talents Program (XLYC1908018);the Natural Foundation Guidance Plan Project of Liaoning (2019-ZD-0151);the Cultivation Program for the Excellent Doctoral Dissertation of Dalian Maritime University;the Fundamental Research Funds for the Central Universities (3132019318, 3132019345)。
Dear Editor, This letter is concerned with the path following of underactuated autonomous surface vessels(ASV) in the presence of surge velocity constraint and asymmetric saturation as well as unknown dynamics.To cope...
关键词：dynamics SATURATION ASYMMETRIC 
Safety-Critical Game-Based Formation Control of Underactuated Autonomous Surface Vehicles
《IEEE/CAA Journal of Automatica Sinica》2023年第4期1102-1104,共3页Nan Gu Haoliang Wang Anqing Wang Lu Liu 
This work was supported in part by the National Natural Science Foundation of China(52271304);the Dalian High-level Talents Innovation Support Program(2022RQ010,2020RQ013,2022RY07);the Postdoctoral Research Foundation of China(2022M720619);the Doctoral Scientific Research Foundation of Liaoning Province(2023-BS-155);the Basic Scientific Research Project of Higher Education Department of Liaoning Province(LJKZ0044);Dalian Science and Technology Innovation Fund(2022JJ12GX034).
Dear Editor,This letter addresses the noncooperative formation control of multiple underactuated autonomous surface vehicles (ASVs) in an obstacle-laden environment.Each ASV is subject to external disturbances and ful...
关键词：METHOD SYSTEM LETTER 
Adaptive Predefined-Time Optimal Tracking Control for Underactuated Autonomous Underwater Vehicles被引量：1
《IEEE/CAA Journal of Automatica Sinica》2023年第4期1083-1085,共3页Kewen Li Yongming Li 
This work was supported by the National Nat-ural Science Foundation(NNSF)of China(61822307).
Dear Editor,This letter concentrated on the adaptive predefined-time optimal tracking control for underactuated autonomous underwater vehicles(AUVs).According to adaptive dynamic programming(ADP)with actor-critic neur...
关键词：NETWORKS NEURAL OPTIMAL 
Stabilization of Asymmetric Underactuated Ships With Full-State Constraints: From Underactuated to Nonholonomic Configuration
《IEEE/CAA Journal of Automatica Sinica》2022年第12期2197-2199,共3页Zhongcai Zhang Linran Tian Heng Su Yuqiang Wu 
supported by the National Natural Science Foundation of China(62173207,62073187,62073189);the Major Scientific and Technological Innovation Project in Shandong Province(2019JZZY011111)。
Dear Editor,This letter addresses the stabilization control of an asymmetric underactuated surface ship with full-state constraints. To simplify the design of controller, the original ship model is transformed into a ...
关键词：STABILIZATION system NONLINEAR 
Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand
《Frontiers of Mechanical Engineering》2022年第3期75-89,共15页Yue ZHENG Xiangxin LI Lan TIAN Guanglin LI 
This work was supported in part by the Key-Area Research and Development Program of Guangdong Province,China(Grant No.2020B0909020004);the National Key R&D Program of China(Grant No.2020YFC2007900);the Shenzhen Science and Technology Program,China(Grant No.CJGJZD20200617103002006).
The loss of hand functions in upper limb amputees severely restricts their mobility in daily life.Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions.In a prosthetic hand desi...
关键词：function-oriented tendon driven prosthetic hand OPTIMIZATION HUMANOID UNDERACTUATED 
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