Abstract: In this study, feedforward control of the one-time swing of a 1DOF pendulum is performed using a finite-time settling function expressed by half-odd-integer trigonometric functions. The ...

The Alt+Enter shortcut isn't limited to new formulas you write—you can go back and clean up any messy formulas at any time.

Messy Excel formulas are more than just an eyesore—they're harder to maintain. Every repeated cell reference and tangled ...

Abstract: In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve ...