Integrated 3-D Flight Trajectory Tracking Control with Aerodynamic Constraints on Attitude and control Surfaces

2017 ◽  
Vol 20 (5) ◽  
pp. 1891-1906 ◽  
Author(s):  
Xueyuan Wang ◽  
Hao Fang ◽  
Lihua Dou ◽  
Jie Chen ◽  
Bin Xin
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Flight Trajectory ◽  
Trajectory Tracking Control ◽  
And Control ◽  
Control Surfaces

The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design

2021 ◽  
pp. 1-23
Author(s):  
Stefan Atay ◽  
Matthew Bryant ◽  
Gregory D. Buckner
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
High Mobility ◽  
Theoretical Development ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
And Control

Abstract This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control systems, with experimental validation. The vehicle under consideration may roll along the ground to conserve power and extend endurance but may also fly to provide high mobility and maneuverability when necessary. The vehicle employs a three-axis gimbal system that decouples the rotor orientation from the vehicle's terrestrial rolling motion. A dynamic model of the vehicle's terrestrial motion is derived from first principles. The dynamic model becomes the basis for a nonlinear trajectory tracking control system suited to the architecture of the vehicle. The vehicle is over-actuated while rolling, and the additional degrees of actuation can be used to accomplish auxiliary objectives, such as power optimization and gimbal lock avoidance. Experiments with a hardware vehicle demonstrate the efficacy of the trajectory tracking control system.

Research of Trajectory Tracking Control of Cruise Missile Based on Observer

2012 ◽  
Vol 184-185 ◽  
pp. 1599-1602
Author(s):  
Bo Hao ◽  
Fan Li ◽  
Jian Hui Zhao
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
State Feedback Control ◽  
Cruise Missile ◽  
Linear Quadratic ◽  
Trajectory Tracking Control ◽  
Linear Quadratic Optimal Control ◽  
Full State Feedback ◽  
And Control

To achieve cruise missile accurate trajectory tracking control, an observer-based tracking control method is designed. An observer is developed to estimate the states and control signals of desired trajectory as the inputs of the tracking controller. The linear quadratic optimal control is used to realize full-state feedback control for trajectory tracking. A certain cruise missile is used for the tracking simulation and the result shows satisfactory performance, the control method is simple and suitable for engineering applications.

scholarly journals AUV Trajectory Tracking Models and Control Strategies: A Review

2021 ◽  
Vol 9 (9) ◽  
pp. 1020
Author(s):  
Daoliang Li ◽  
Ling Du
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Reference Model ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Trajectory Tracking Control ◽  
Open Problems ◽  
Modeling And Control ◽  
Motion System ◽  
And Control

Autonomous underwater vehicles (AUVs) have been widely used to perform underwater tasks. Due to the environmental disturbances, underactuated problems, system constraints, and system coupling, AUV trajectory tracking control is challenging. Thus, further investigation of dynamic characteristics and trajectory tracking control methods of the AUV motion system will be of great importance to improve underwater task performance. An AUV controller must be able to cope with various challenges with the underwater vehicle, adaptively update the reference model, and overcome unexpected deviations. In order to identify modeling strategies and the best control practices, this paper presents an overview of the main factors of control-oriented models and control strategies for AUVs. In modeling, two fields are considered: (i) models that come from simplifications of Fossen’s equations; and (ii) system identification models. For each category, a brief description of the control-oriented modeling strategies is given. In the control field, three relevant aspects are considered: (i) significance of AUV trajectory tracking control, (ii) control strategies; and (iii) control performance. For each aspect, the most important features are explained. Furthermore, in the aspect of control strategies, mathematical modeling study and physical experiment study are introduced in detail. Finally, with the aim of establishing the acceptability of the reported modeling and control techniques, as well as challenges that remain open, a discussion and a case study are presented. The literature review shows the development of new control-oriented models, the research in the estimation of unknown inputs, and the development of more innovative control strategies for AUV trajectory tracking systems are still open problems that must be addressed in the short term.

scholarly journals Development of an Adaptive Trajectory Tracking Control of Wheeled Mobile Robot

2021 ◽  
Vol 30 (55) ◽  
pp. e12022
Author(s):  
Guiovanny Suarez-Rivera ◽  
Nelson David Muñoz-Ceballos ◽  
Henry Mauricio Vásquez-Carvajal
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Recursive Least Squares ◽  
Pid Controllers ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
Analysis Technique ◽  
Mathematical Equations ◽  
And Control

Classical modeling and control methods applied to differential locomotion mobile robots generate mathematical equations that approximate the dynamics of the system and work relatively well when the system is linear in a specific range. However, they may have low accuracy when there are many variations of the dynamics over time or disturbances occur. To solve this problem, we used a recursive least squares (RLS) method that uses a discrete-time structure first-order autoregressive model with exogenous variable (ARX). We design and modify PID adaptive self-adjusting controllers in phase margin and pole allocation. The main contribution of this methodology is that it allows the permanent and online update of the robot model and the parameters of the adaptive self-adjusting PID controllers. In addition, a Lyapunov stability analysis technique was implemented for path and trajectory tracking control, this makes the errors generated in the positioning and orientation of the robot when performing a given task tend asymptotically to zero.  The performance of the PID adaptive self-adjusting controllers is measured through the implementation of the criteria of the integral of the error, which allows to determine the controller of best performance, being in this case, the PID adaptive self-adjusting type in pole assignment, allowing the mobile robot greater precision in tracking the trajectories and paths assigned, as well as less mechanical and energy wear, due to its smooth and precise movements.

scholarly journals Design and Control of an Omnidirectional Mobile Wall-Climbing Robot

2021 ◽  
Vol 11 (22) ◽  
pp. 11065
Author(s):  
Zhengyu Zhong ◽  
Ming Xu ◽  
Junhao Xiao ◽  
Huimin Lu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Angular Acceleration ◽  
Linear Acceleration ◽  
Climbing Robot ◽  
Tracking Accuracy ◽  
Climbing Robots ◽  
Trajectory Tracking Control ◽  
And Control

Omnidirectional mobile wall-climbing robots have better motion performance than traditional wall-climbing robots. However, there are still challenges in designing and controlling omnidirectional mobile wall-climbing robots, which can attach to non-ferromagnetic surfaces. In this paper, we design a novel wall-climbing robot, establish the robot’s dynamics model, and propose a nonlinear model predictive control (NMPC)-based trajectory tracking control algorithm. Compared against state-of-the-art, the contribution is threefold: First, the combination of three-wheeled omnidirectional locomotion and non-contact negative pressure air chamber adhesion achieves omnidirectional locomotion on non-ferromagnetic vertical surfaces. Second, the critical slip state has been employed as an acceleration constraint condition, which could improve the maximum linear acceleration and the angular acceleration by 164.71% and 22.07% on average, respectively. Last, an NMPC-based trajectory tracking control algorithm is proposed. According to the simulation experiment results, the tracking accuracy is higher than the traditional PID controller.

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