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Open access Oct 2026

Output-Based Model Reference Adaptive Control of Satellite Manipulator

The limited availability of energy resources in space implementations requires the use of low-power and low-capacity actuators in satellite manipulators. This constraint makes it necessary to employ the manipulator structure to be lightweight in order to maintain task performance; however, the resulting increase in str...

Saliha Köprücü, İbrahim Mızrak, H. H. Bilgic · 0 citations
Open access Sep 2026

Integrated Vibration Suppression for Industrial Manipulators via Disturbance Observer and Partial Eigenstructure Assignment

Residual vibration of industrial manipulators can limit positioning efficiency and dynamic accuracy during high-speed motion. This study develops an integrated vibration-suppression framework for a rigid-link manipulator with flexible-joint dynamics. A controller-oriented rigid–flexible model with lumped disturbances i...

Xiao-Wei Han, Kun Wu, Xiao-Peng Xu et al. · 0 citations
Sep 2026

Modeling and analysis of a cable-driven manipulator based on computed torque control

Cable-driven manipulators have garnered increasing attention in robotics owing to their lightweight structure, flexible transmission mechanisms, and large operational workspace. However, the strong nonlinear dynamics, parameter coupling, and external disturbances inherent in cable-driven systems pose significant challe...

Jian-Hao Chai, Wei-Cai Quan, Xuan-Ming Tang et al. · 0 citations
Open access Sep 2026

Fast aerial manipulation of a varying payload

Abstract This paper addresses the robust trajectory tracking problem of an Unmanned Aerial Vehicle (UAV) equipped with a 2-DOF manipulator, which is designed for fast aerial manipulation of varying payloads. To overcome the high computational cost and adaptability limitations of traditional model-based controllers, thi...

T. Simonyan, O. Gasparyan · 0 citations
Open access Sep 2026

Neural Network-Based Fixed-Time Control for Flexible Two-link Manipulators with State Constraints and Input Deadzone

Experimental results demonstrate that the proposed Fixed-Time control scheme reduces the steady-state tracking errors and vibration suppression, and fully validate the superiority and robustness of the proposed control strategy in balancing rapid convergence with vibration suppression.

He-Jia Gao, Tan-Yu Chen, Jiang-Xu Liu et al. · 0 citations
2026

Trajectory Optimization and Adaptive Control of Multi-DOF Hydraulic Manipulator for Tunnel Drilling

High-performance positioning of multi-degree-of-freedom (multi-DOF) hydraulic manipulators in tunnel environments remains challenging. A major reason is the need to reconcile operational efficiency with motion smoothness in the presence of highly nonlinear hydraulic dynamics and lumped disturbances. To address these ch...

Meng-Hao Cui, Zi-Ming Kou, Yu-Ming Cui · 0 citations

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