Advanced robotics , 10 (3): 245-334.L. Sciavicco, B. Siciliano, and L. Villani, "Lagrange and Newton- Euler dynamic modeling of a gear-driven rigid robot manipulator with inclusion of motor inertia effects", Ad
Although we use the coordinate form of the Lagrange–Poincaré equations, or the reduced Euler–Lagrange equations, our formulation actually holds globally. This means, one can potentially find a coordinate system whose domain of validity is larger that the one used in this paper and use this ...
66 212203:1–212203:19 https://doi.org/10.1007/s11432-022-3711-1 Structure-free containment control for uncertain underactuated multiple Euler-Lagrange systems Housheng SU1, Yali WU1, Liren ZHANG1 & Xia CHEN2* 1Key Laboratory of Image Processing and Intelligent Control of Education Ministry of...
This paper presents a novel fixed-time adaptive Fault Tolerant Control (FTC) framework for MIMO nonlinear Euler-Lagrange systems using sliding mode-based strategy, reinforcement learning (RL) and fixed-time disturbance observer. The primary objective is to enhance system reliability in the presence of...
Formulation of nonlinear H[sub infinity] inverse-optimal control problem; Differential Riccati inequality for Euler-Lagrangian System; Analytic solution to differential Riccati equation.JonghoonParkWanKyunChungEBSCO_bspIEEE Transactions on Robotics & Automation...