Title

The non-orthogonal Serret–Frenet parametrization applied to the path following problem of a manipulator with partially known dynamics

Journal title

Archives of Control Sciences

Yearbook

2023

Volume

vol. 33

Issue

No 2

Authors

Mazur, Alicja ; Dyba, Filip

Affiliation

Mazur, Alicja : Department of Cybernetics and Robotics, Faculty of Electronics, Photonics and Microsystems, Wrocław University of Science and Technology, Janiszewskiego Street 11/17, Wrocław 50-372, Poland ; Dyba, Filip : Department of Cybernetics and Robotics, Faculty of Electronics, Photonics and Microsystems, Wrocław University of Science and Technology, Janiszewskiego Street 11/17, Wrocław 50-372, Poland

Keywords

backstepping integrator algorithm ; holonomic manipulator ; non-orthogonal projection ; path following ; Serret–Frenet parametrization

Divisions of PAS

Nauki Techniczne

Coverage

339-370

Publisher

Committee of Automatic Control and Robotics PAS

Date

2023.06.27

Type

Article

Identifier

DOI: 10.24425/acs.2023.146279