A screw-theoretic synthesis produces scalable PDE models for the dynamics of multibody flexible manipulators in 3D space, recovering all states as a well-posed semi-explicit index-1 DAE system.
Relative-kinematic formulation of geometrically exact beam dynamics based on lie group variational integrators,
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A modular Lie-algebraic adaptive controller for serial flexible manipulators preserves the full PDE deformation model and proves exponential stability scalable to arbitrary chain lengths.
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Scalable Screw-Theoretic Synthesis for PDE-Based Dynamic Modeling of Multibody Flexible Manipulators
A screw-theoretic synthesis produces scalable PDE models for the dynamics of multibody flexible manipulators in 3D space, recovering all states as a well-posed semi-explicit index-1 DAE system.
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Modular Lie Algebraic PDE Control of Multibody Flexible Manipulators
A modular Lie-algebraic adaptive controller for serial flexible manipulators preserves the full PDE deformation model and proves exponential stability scalable to arbitrary chain lengths.