Variable structure control with dual avoidance regions for collision-free trajectory tracking of articulated wheel loaders

A Hierarchical Hybrid Framework for Dynamic Obstacle Avoidance of 6-DOF Robotic Manipulators

Obstacle Avoidance of Dual-Arm Space Robots via Nonlinear Model Predictive Control and Velocity Dampers

Compared with a single-arm configuration, a dualarm space robot can share grasping loads, improve capture stability, and provide mutual backup during non-cooperative target operations. This paper addresses the coordinated pre-capture of a spinning non-cooperative target by a dual-arm free-flying space robot considering...

Safety-Aware Optimal Tracking Control of Stochastic Systems With Obstacle Avoidance via Adaptive Dynamic Programming.

Safe trajectory tracking for nonlinear stochastic systems operating in obstacle-cluttered environments remains a significant challenge, as random disturbances and obstacle-induced constraints can simultaneously degrade tracking accuracy and threaten system safety. To overcome this issue, this article develops a safety-...

Hierarchical control framework for obstacle crossing of hybrid leg-wheel vehicles

Dual‐Adaptive Control for Smooth Obstacle Avoidance in Hybrid Boom Lifts

Hybrid boom lifts operating in cluttered workspaces with rigid obstacles face a control conflict between accurate trajectory tracking and safe obstacle avoidance, which can lead to discontinuous joint velocities and abrupt end‐effector motions. Existing methods still struggle to balance tracking performance, collisio...

Optimization of trajectory tracking accuracy and vibration suppression for continuum flexible robotic arm

Drawbacks of continuous flexible manipulators, such as insufficient trajectory tracking accuracy and obvious flexible vibration, were targeted, and an integrated hierarchical strategy of trajectory replanning and disturbance rejection control was proposed for cable-driven flexible manipulators. A STO-MPC (Stochastic Tr...