Applied Nonlinear Control Slotine Solution Manual ##VERIFIED##
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The geometric-free control strategy is implemented for a three-joint manipulator using both theta-parameterization and twist-parameterization. The joint-angle-constrained and uncertainty-constrained control strategy is achieved for a three-joint manipulator using backstepping technique. Numerical simulation and experimental studies are conducted to verify the effectiveness and robustness of the proposed control strategies in this paper.
In this paper, we propose a new controller to achieve a trajectory tracking in a three-joint manipulator under joint-angle constrained/uncertainty. The robotic platform is modeled as a general 3-link manipulator. The manipulator model is based on both theta-parameterization and twist-parameterization. Finally, a joint-angle-constrained/uncertainty controller is designed for the manipulator using backstepping technique.
In this paper, we propose a new controller to achieve a trajectory tracking in a three-joint manipulator under joint-angle constrained/uncertainty. The robotic platform is modeled as a general 3-link manipulator. A geometric-free tracking law, with a reference transformation, is proposed. The manipulator model is based on both theta-parameterization and twist-parameterization. Finally, a joint-angle-constrained/uncertainty controller is designed for the manipulator using backstepping technique. The main contributions of this paper are the following three points:
In relation to the skills and competences, the aims are:- Analyzing qualitative behavior of nonlinear dynamical systems.- Understanding and applying the methods of nonlinear systems analysis.- Understanding and applying the methods of nonlinear control.- Analyzing model of Rikitake system.
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