The non-orthogonal Serret–Frenet parametrization applied to the path following problem of a manipulator with partially known dynamics

DOI10.24425/ACS.2023.146279MaRDI QIDQ6054151zbMATH OpenFDO

Authors Alicja Mazur

Publication date 27 September 2023

Published in Archives of Control Sciences (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://doi.org/10.24425/ACS.2023.146279

zbMATH Keywords

backstepping integrator algorithmholonomic manipulatornon-orthogonal projectionpath followingSerret-Frenet parametrization

Mathematics Subject Classification ID

Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• On path following control of nonholonomic mobile manipulators
• Trajectory planning based on non-convex global optimization for serial manipulators
• scientific article; zbMATH DE number 3981065
• Parametric approach to trajectory tracking control of robot manipulators
• Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators
• A path following problem for a class of non-holonomic control systems with noise
• A non‐inherent parametric estimation for dynamical equivalence of flexible manipulators
• Generalised path-following for well-behaved nonlinear structures
• A mixed nonlinear complementarity technique for solving the dynamics of a dexterous manipulation system

Cites work

• Adaptive control of kinematically redundant manipulator along a prescribed geometric path
• Adaptive manipulator control: A case study
• Adaptive nonlinear control without overparametrization
• Design of a path following controller for an underactuated AUV
• Following 3D paths by a manipulator
• scientific article; zbMATH DE number 5175519 (Why is no real title available?)
• Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators
• On path following control of nonholonomic mobile manipulators
• Path tracking by the end-effector of a redundant manipulator
• Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information
• Serret-Frenet frame and curvatures of Bézier curves
• Theory of robot control
• There is More than One Way to Frame a Curve

Cited in

(4)

• Following 3D paths by a manipulator
• Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information
• Adaptive tracking control of underactuated AUV with historical navigation information and piecewise weighted fractional order integration
• A robust path following algorithm based on the orthogonal Bishop parametrization for a non-holonomic mobile manipulator

This page was built for publication: The non-orthogonal Serret–Frenet parametrization applied to the path following problem of a manipulator with partially known dynamics

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6054151)