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Journal Articles

Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021007.
Paper No: ALDSC-23-1074
https://doi.org/10.1115/1.4064517
Published Online: March 7, 2024
... No. IMECE2023-114223. 01 11 2023 04 01 2024 12 01 2024 07 03 2024 Graphical Abstract Figure kinematic trajectory tracking PID mobile robot non-holonomic Kane canonical momenta sliding mode LQR pole placement machine learning agents based systems autonomous...
View Article titled, Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots
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Topics: Control equipment, Dynamic models, Momentum, Dynamic modeling, Pole placement, Robots, Kinematics
Journal Articles

An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics

Emeka K. Ezeanya, Alan A. Barhorst
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2024, 4(1): 011006.
Paper No: ALDSC-23-1056
https://doi.org/10.1115/1.4064347
Published Online: February 2, 2024
... and precisely. Table 3 shows the superior performance of the sliding mode control in terms of tracking accuracy and significantly lower control input values which occurred on the order of magnitude 10 1 − 10 3 . The pole placement and the LQR controls showed similar tracking accuracy; however, larger...
View Article titled, An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics
Open the PDF for An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics in another window
Topics: Errors, Flexible manipulators, Kinematics, Manipulators, Modeling, Pole placement, Sliding mode control, Tendons, Control modeling, Displacement