Preliminary experiments in nonlinear model-based tracking control of underwater vehicles with three degree-of-freedom fully-coupled dynamical plant models

2012 Oceans ◽  
2012 ◽  
Author(s):  
S. C. Martin ◽  
L. L. Whitcomb
Keyword(s):  
Nonlinear Model ◽  
Tracking Control ◽  
Underwater Vehicles ◽  
Degree Of Freedom ◽  
Model Based ◽  
Three Degree Of Freedom ◽  
Fully Coupled

617 Trajectory Tracking Control of Three-Degree-of-Freedom Robot Driven by Stepping Motors

2005 ◽  
Vol 2005 (0) ◽  
pp. _617-1_-_617-5_
Author(s):  
Hiroyuki KOJIMA ◽  
Hideyuki CHIGIRA ◽  
Yoshihumi KUWANO ◽  
Keiichi ABE ◽  
NORIYOSHI Kikuchi ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degree Of Freedom ◽  
Trajectory Tracking Control ◽  
Three Degree Of Freedom

Three-Degree-of-Freedom Dynamic Model Based IT2RFNN Control for Gantry Position Stage

2013 ◽  
Vol 416-417 ◽  
pp. 554-558
Author(s):  
Po Huan Chou ◽  
Faa Jeng Lin ◽  
Chin Sheng Chen ◽  
Feng Chi Lee
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Adaptive Learning ◽  
Tracking Error ◽  
Degree Of Freedom ◽  
Mechanical Coupling ◽  
Control Approach ◽  
Model Based ◽  
Interval Type ◽  
Three Degree Of Freedom

A three-degree-of-freedom (3-DOF) dynamic model based interval type-2 recurrent fuzzy neural network (IT2RFNN) control system is proposed in this study for a gantry position stage. To consider the effect of inter-axis mechanical coupling, a Lagrangian equation based 3-DOF dynamic model for gantry position stage is derived first. Then, to minimize the synchronous error and tracking error of the gantry position stage, the 3-DOF dynamic model based IT2RFNN control system is proposed. In this approach, the adaptive learning algorithms of the IT2RFNN on-line are derived from the Lyapunov stability theorem. Finally, some experimental results of optical inspection application are illustrated to show the validity of the proposed control approach.

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