Robustness of adaptive control for three-dimensional curve tracking under state constraints: Effects of scaling control terms

2016 ◽  
Author(s):  
Michael Malisoff ◽  
Robert Sizemore ◽  
Fumin Zhang
Keyword(s):  
Adaptive Control ◽  
State Constraints ◽  
Three Dimensional ◽  
Curve Tracking

Three-Dimensional Curve Tracking for Particles Using Gyroscopic Control

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
Chuanfeng Wang
Keyword(s):  
Tracking Control ◽  
Three Dimensional ◽  
Smooth Curve ◽  
Autonomous Agent ◽  
Control Law ◽  
Steering Control ◽  
3D Space ◽  
Moving Direction ◽  
Tangent Direction ◽  
Curve Tracking

Curve-tracking control is challenging and fundamental in many robotic applications for an autonomous agent to follow a desired path. In this paper, we consider a particle, representing a fully actuated autonomous robot, moving at unit speed under steering control in the three-dimensional (3D) space. We develop a feedback control law that enables the particle to track any smooth curve in the 3D space. Representing the 3D curve in the natural Frenet frame, we construct the control law under which the moving direction of the particle will be aligned with the tangent direction of the desired curve and the distance between the particle and the desired curve will converge to zero. We demonstrate the effectiveness of the proposed 3D curve-tracking control law in simulations.

Adaptive control for planar curve tracking under controller uncertainty

Automatica ◽  
2013 ◽  
Vol 49 (5) ◽  
pp. 1411-1418 ◽  
Author(s):  
Michael Malisoff ◽  
Fumin Zhang
Keyword(s):  
Adaptive Control ◽  
Planar Curve ◽  
Curve Tracking
Sign in / Sign up

Export Citation Format

Share Document