Motion control of marine craft using virtual positional and velocity constraints

2011 ◽  
Author(s):  
Ehsan Peymani ◽  
Thor I. Fossen
Keyword(s):  
Motion Control ◽  
Velocity Constraints

scholarly journals Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints

2015 ◽  
Vol 2015 ◽  
pp. 1-15 ◽  
Author(s):  
Ollin Peñaloza-Mejía ◽  
Luis A. Márquez-Martínez ◽  
Joaquín Alvarez ◽  
Miguel G. Villarreal-Cervantes ◽  
Ramón García-Hernández
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Control Design ◽  
Lyapunov Theory ◽  
Nonlinear Controller ◽  
Feedback Connection ◽  
Omnidirectional Mobile Robot ◽  
Control Scheme ◽  
Asymptotic Tracking ◽  
Velocity Constraints

A solution to achieve global asymptotic tracking with bounded velocities in an omnidirectional mobile robot is proposed in this paper. It is motivated by the need of having a useful in-practice motion control scheme, which takes into account the physical limits of the velocities. To this end, a passive nonlinear controller is designed and combined with a tracking controller in a negative feedback connection structure. By using Lyapunov theory and passivity tools, global asymptotic tracking with desired bounded velocities is proved. Simulations and experimental results are provided to show the effectiveness of the proposal.

Virtual Hand Representation and Motion Control for Smart Wheelchair with Touch-Based Extended Hand Projection

2019 ◽  
Vol 139 (5) ◽  
pp. 662-669
Author(s):  
Yuki Asai ◽  
Ryuichi Enomoto ◽  
Yuta Ueda ◽  
Daisuke Iwai ◽  
Kosuke Sato
Keyword(s):  
Motion Control ◽  
Virtual Hand ◽  
Smart Wheelchair

Development of Semicircular Tubular Core-less Linear Motor and Its Motion Control

2015 ◽  
Vol 135 (3) ◽  
pp. 246-257 ◽  
Author(s):  
Mototsugu Omura ◽  
Tomoyuki Shimono ◽  
Yasutaka Fujimoto
Keyword(s):  
Motion Control ◽  
Linear Motor

Power Supply Overlaid Communication with Common Clock Delivery for Cooperative Motion Control

2011 ◽  
Vol E94-A (12) ◽  
pp. 2773-2775
Author(s):  
Fumikazu MINAMIYAMA ◽  
Hidetsugu KOGA ◽  
Kentaro KOBAYASHI ◽  
Masaaki KATAYAMA
Keyword(s):  
Motion Control ◽  
Power Supply ◽  
Cooperative Motion
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