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Zhijun Li,Kun Yang,Stjepan Bogdan,Bugong Xu 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.6
Aiming for a better dynamic performance from the robot beyond the physical limits set by the manufacturers, in this paper we propose to integrate the robot dynamics into motion planning and then to approximate the robot joint torques using parameterized B-splines. By introducing a high-dimensional non-linear fitness function, we transform the motion planning problem into an optimiza-tion of a non-linear fitness function, and then we develop the approach based on Support Area Level Set Algorithm (SALAS). It integrates dual-stage sampling strategies to avoid early convergence in a small search field and to improve the rate of convergence to the potential solution. The effectiveness of the proposed approach has been verified by the simulation of a two-link robotic manipulator.
Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles with Velocity Constraints
Zhijun Li,Chenguang Yang,Nan Ding,Stjepan Bogdan,Tong Ge 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.2
In this paper, robust adaptive control strategies are designed for Underwater Remotely Operated Vehicles (ROVs) with velocity constraints. First, robust control strategies are investigated for under-water ROVs, and then adaptive robust control strategies are further developed with online parameter estimation. To prevent the velocity constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also guarantee that the velocity constraints are not transgressed. The stability analysis of the closed-loop system is provided and all closed-loop signals are ensured to be bounded. Simulation results for 5 degree-of-freedom (DOF) underwater ROV demonstrate the effectiveness of the proposed approach.