Trajectory generation with piecewise constant acceleration and tracking control of a quadcopter

2015 ◽  
Author(s):  
Jong Tai Jang ◽  
Sung Tae Moon ◽  
Sanghyuck Han ◽  
Hyeon Cheol Gong ◽  
Gi-Hyuk Choi ◽  
...  
Keyword(s):  
Tracking Control ◽  
Trajectory Generation ◽  
Constant Acceleration ◽  
Piecewise Constant

A novel tracking control method for the distributed-drive and active-steering articulated virtual rail train

2021 ◽  
pp. 095965182110274
Author(s):  
Dehua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yao Cheng
Keyword(s):  
Control System ◽  
Data Storage ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Generation ◽  
Front Axle ◽  
Steering Control ◽  
Differential Distribution ◽  
Target Trajectory ◽  
Active Steering

To realize the running control of distributed-drive and active-steering articulated virtual rail trains travelling on urban roads under non-contact virtual rail constraints, target trajectory generation and active-steering control are crucial issues. In this article, a novel tracking control method is proposed, which includes a dynamic target trajectory generation and a new active-steering tracking control system. First, a distributed-drive and active-steering articulated virtual rail train kinematics model with n-sections is derived, and then a new target trajectory generation method is proposed using data filtering and compression, coordinate transformation and spline difference, and the simulation comparison shows that the proposed method has less data storage space and high computational efficiency. Second, a new active-steering tracking control system composed of a rear axle preview active-steering controller, a front axle coordinated steering controller, and a differential-distribution controller is designed to achieve tracking control and coordinated movement of distributed-drive and active-steering articulated virtual rail train. Finally, a distributed-drive and active-steering articulated virtual rail train simulation model was constructed in ADAMS, and then simulations are performed under three rail conditions and compared with the other two methods, which show that the proposed method has good tracking control accuracy, adaptability, and superiority under various rails and different speeds.

Motion Planning of Nonholonomic Systems with Tracking Control Lyapunov Function

2010 ◽  
Vol 44-47 ◽  
pp. 3992-3996
Author(s):  
Yan Peng ◽  
Mei Liu ◽  
Zhi Jie Tang ◽  
Shao Rong Xie ◽  
Jun Luo
Keyword(s):  
Lyapunov Function ◽  
Motion Planning ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Nonholonomic Constraint ◽  
Trajectory Generation ◽  
Nonholonomic Systems ◽  
Control Lyapunov Function ◽  
Dynamical Degrees

A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function (TCLF) is proposed to guarantee that the trajectory generation is convergent and executable under nonholonomic constraint, and the simulation result conducted on surface vehicle shows its effectiveness.

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