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• W2896619003 abstract "A modeling approach and an adaptive robust controller are proposed for bulldozer link lever system in this paper. The dynamic equation is acquired by combining Udwadia-Kalaba and Lagrange approaches. In this way, there is no approximation, linearization or extra variables such as Lagrangian multiplier. The controller consists of three parts. The first part is to suppress any tendency of deviating from the constraints. The second part aims to deal with any possible initial condition deviation from the constraint manifold. The third part is based on a leakage-type adaptive law which is used to estimate the unknown bound of the uncertainty. In the end, simulation results verify that the movement of bulldozer link lever can satisfy the desired trajectory and the real-time joint torque can be acquired conveniently by using the proposed approach." @default.
• W2896619003 created "2018-10-26" @default.
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• W2896619003 date "2018-05-01" @default.
• W2896619003 modified "2023-09-26" @default.
• W2896619003 title "Leakage-Type Adaptive Robust control for Nonlinear Bulldozer Link Lever System" @default.
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• W2896619003 doi "https://doi.org/10.1109/icmra.2018.8490556" @default.
• W2896619003 hasPublicationYear "2018" @default.
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