A trajectory tracking control law for a quadrotor with slung load

Automatica ◽  
2019 ◽  
Vol 106 ◽  
pp. 384-389 ◽  
Author(s):  
David Cabecinhas ◽  
Rita Cunha ◽  
Carlos Silvestre
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Trajectory Tracking Control

scholarly journals Discrete-time predictive trajectory tracking control for nonholonomic mobile robots with obstacle avoidance

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987731
Author(s):  
Jingjun Zhang ◽  
Shaobo Zhang ◽  
Ruizhen Gao
Keyword(s):  
Obstacle Avoidance ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Nonholonomic Mobile Robots ◽  
Trajectory Tracking Control ◽  
Time Model ◽  
Control Approach ◽  
Avoidance Control

This article presents a tracking control approach with obstacle avoidance for a mobile robot. The control law is composed of two parts. The first is a discrete-time model predictive method-based trajectory tracking control law that is derived using an optimal quadratic algorithm. The second part is the obstacle avoidance strategies that switch according to two different designed obstacle avoidance regions. The controllability of the avoidance control law is analyzed. The simulation results validate the effectiveness of the proposed control law considering both trajectory tracking and obstacle avoidance.

scholarly journals Construction of a WMR for Trajectory Tracking Control: Experimental Results

2013 ◽  
Vol 2013 ◽  
pp. 1-17 ◽  
Author(s):  
R. Silva-Ortigoza ◽  
C. Márquez-Sánchez ◽  
M. Marcelino-Aranda ◽  
M. Marciano-Melchor ◽  
G. Silva-Ortigoza ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Kinematic Model ◽  
Cubic Splines ◽  
Control Law ◽  
Level Control ◽  
Trajectory Tracking Control ◽  
Smooth Curves ◽  
Low Level ◽  
High Level

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position(x*,y*)and orientation(φ*). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data pointsx1*,y1*,…,xn*,yn*. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

An Improved Controller Based on Chattering-Free Trajectory-Tracking Control for Underwater Profile Monitoring Vehicle

2014 ◽  
Vol 568-570 ◽  
pp. 944-947
Author(s):  
Hong Bin Zhang ◽  
Jian Yuan
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Control Law ◽  
Profile Monitoring ◽  
Trajectory Tracking Control ◽  
Distributed Controller ◽  
Chattering Free ◽  
Automation Control

An improved distributed controller for underwater profile monitoring vehicle is investigated. A chattering-free tracking control law based on chattering-free trajectory-tracking control method is proposed to make a automation control of the vehicle and a manual/auto swtiched distributed controller on Underwater Profile Monitoring Vehicle is desinged. We give the designing procedure of hardware and software of the controller.

scholarly journals Trajectory Tracking Control Design of a Mass-Damping-Spring System with Uncertainty using the Bond Graph Approach

2020 ◽  
Vol 10 (6) ◽  
pp. 6427-6431
Author(s):  
I. Dif ◽  
A. Kouzou ◽  
K. Benmahammed ◽  
A. Hafaifa
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Bond Graph ◽  
Control Law ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Spring System ◽  
Mechanical Mass ◽  
Mass Spring

This paper deals with the simulation, and design of a trajectory-tracking control law for a physical system under parameter uncertainty modeled by a bond graph. This control strategy is based on the inversion of the system through their causal Input/Output (I/O) path using the principle of bicausality to track the desired trajectory. The proposed control strategy is validated with the use of a simple mechanical mass-spring-damper system. The results show that the bond graph is a very helpful methodology for the design of control laws in the presence of uncertainties. This proposed control can be applied in several applications and can be improved to ensure robust control.

A Designing Method of Underwater Controller Based on Trajectory-Tracking Control Law for Underwater Profile Monitoring Vehicle

2014 ◽  
Vol 628 ◽  
pp. 177-180
Author(s):  
Wen Xia Zhang ◽  
Jian Yuan ◽  
Zhong Hai Zhou
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Control Method ◽  
Control Law ◽  
Profile Monitoring ◽  
Trajectory Tracking Control ◽  
Distributed Controller ◽  
Automation Control ◽  
Designing Method

An Underwater part including hardware and software of distributed controller for underwater profile monitoring vehicle is investigated. A finite-time tracking control law based on finite-time trajectory-tracking control method is proposed to make an automation control of the vehicle and a manual/auto swtiched distributed controller on Underwater Profile Monitoring Vehicle is desinged. We give the designing procedure of hardware and software of the controller.

Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots with Actuator Dynamic Being Considered

2012 ◽  
Vol 433-440 ◽  
pp. 2596-2601 ◽  
Author(s):  
Guang Xin Han ◽  
Yan Hui Zhao
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Closed Loop ◽  
Kinematic Model ◽  
Lyapunov Theory ◽  
Control Law ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics

In this paper trajectory tracking control problem for nonholonomic wheeled mobile robots with the actuator dynamics being considered is studied. On the basis of rotation error transformation and backstepping technique, tracking control law designed for kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved. Closed-loop stability is guaranteed by Lyapunov theory and Routh-Hurwitz Criterion. Finally simulation results for tracking typical trajectory are presented.

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