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Industrial-Scale Autonomous Wheeled-Vehicle Path Following by Combining Iterative Learning Control with Feedback Linearization
Abstract— This paper presents a path following method for autonomous wheeled vehicles that combines iterative learning control (ILC) with nonlinear feedback linearization (FBL) to provide anticipatory control action ...
Towards Controlling Bucket Fill Factor in Robotic Excavation by Learning Admittance Control Setpoints
This paper investigates the extension of an admittance control scheme to- ward learning and adaptation of its setpoints to achieve controllable bucket fill factor for robotic excavation of fragmented rock. A previously ...