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math.OC2021★ 7 cited
Subsystem-Based Control with Modularity for Strict-Feedback Form Nonlinear Systems
Janne Koivumäki, Jukka-Pekka Humaloja, Lassi Paunonen +2
This study proposes an adaptive subsystem-based control (SBC) for systematic and straightforward nonlinear~control of nth-order strict-feedback form (SFF) systems.~By decomposing t…
cs.RO2021
Mathematical modelling and virtual decomposition control of heavy-duty parallelserial hydraulic manipulators
Goran R. Petrović, Jouni Mattila
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallelserial structures connected in series. Each considered parallelserial structure conta…