scholarly journals A tracking error control approach for model predictive position control of a quadrotor with time varying reference

2016 ◽  
Author(s):  
Jan Dentler ◽  
Somasundar Kannan ◽  
Miguel Angel Olivares Mendez ◽  
Holger Voos
Keyword(s):  
Error Control ◽  
Position Control ◽  
Tracking Error ◽  
Time Varying ◽  
Control Approach ◽  
Tracking Error Control

scholarly journals A tracking error–based fully probabilistic control for stochastic discrete-time systems with multiplicative noise

2020 ◽  
Vol 26 (23-24) ◽  
pp. 2329-2339
Author(s):  
Randa Herzallah ◽  
Yuyang Zhou
Keyword(s):  
Error Control ◽  
Multiplicative Noise ◽  
Stochastic Systems ◽  
Design Method ◽  
Tracking Error ◽  
Flexible Beam ◽  
System Control ◽  
Probabilistic Design ◽  
Leibler Divergence ◽  
Tracking Error Control

This article proposes the exploitation of the Kullback–Leibler divergence to characterise the uncertainty of the tracking error for general stochastic systems without constraints of certain distributions. The general solution to the fully probabilistic design of the tracking error control problem is first stated. Further development then focuses on the derivation of a randomised controller for a class of linear stochastic Gaussian systems that are affected by multiplicative noise. The derived control solution takes the multiplicative noise of the controlled system into consideration in the derivation of the randomised controller. The proposed fully probabilistic design of the tracking error of the system dynamics is a more legitimate approach than the conventional fully probabilistic design method. It directly characterises the main objective of system control. The efficiency of the proposed method is then demonstrated on a flexible beam example where the vibration quenching in flexible beams is shown to be effectively suppressed.

scholarly journals MASALAH GALAT PENJEJAKAN MINIMUM PADA SISTEM PENDULUM TERBALIK

2010 ◽  
Vol 9 (1) ◽  
pp. 15
Author(s):  
T. BAKHTIAR
Keyword(s):  
Error Control ◽  
Inverted Pendulum ◽  
Tracking Error ◽  
Closed Form Expression ◽  
Form Expression ◽  
Minimum Error ◽  
Optimal Tracking ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Tracking Error Control

This paper studies the optimal tracking error control problem on an inverted pendulum model. We characterize the optimal tracking error in term of pendulum’s parameters. Particularly, we derive the closed form expression for the pendulum length which gives minimum error. It is shown that the minimum error can always be accomplished as long as the ratio between the mass of the pendulum and that of the cart satisfies a certain constancy, regardless the type of material we use for the pendulum.

Minimum Tracking Error Control of Flexible Ball Screw Drives Using a Discrete-Time Sliding Mode Controller

2009 ◽  
Vol 131 (5) ◽  
Author(s):  
Chinedum Okwudire ◽  
Yusuf Altintas
Keyword(s):  
Discrete Time ◽  
Error Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Open Loop ◽  
Ball Screw ◽  
Sliding Mode Controller ◽  
Tracking Accuracy ◽  
Ball Screw Drives ◽  
Tracking Error Control

This paper presents modeling, identification, and discrete-time sliding mode control of ball screw drives with structural flexibility. The mechanical system of the drive is modeled by a two degree-of-freedom system dominated by the coupled longitudinal and torsional dynamics of the drive assembly whose parameters are identified. A mode-compensating disturbance adaptive discrete-time sliding mode controller is then designed to actively suppress the vibrations of the drive. However, it is shown theoretically that, without using minimum tracking error filters, the tracking errors of the drive do not go to zero when sliding mode is reached. Therefore, a method for designing stable and robust minimum tracking error filters, irrespective of the identified open-loop behavior of the drive is proposed. The identification and control of flexible ball screw drives are experimentally tested, and the tracking accuracy of the drives is shown to improve considerably as a result of the designed minimum tracking error filters.

Iterative Learning Control for a Class of Time-Delay Systems with Time-Varying Uncertainties

2013 ◽  
Vol 310 ◽  
pp. 428-434
Author(s):  
Ye Lei Zhao
Keyword(s):  
Time Delay ◽  
Iterative Learning Control ◽  
Control Algorithm ◽  
Tracking Error ◽  
Learning Control ◽  
Iterative Learning ◽  
Delay Systems ◽  
Time Varying ◽  
Adaptive Iterative Learning Control ◽  
Control Approach

An adaptive iterative learning control algorithm is proposed for a class of known time-delay nonlinear system with unknown time-varying parameter. A parameter separation technique is used to deal with time-delay problem. The control approach presented in this paper can guarantee that the tracking error converges to zero uniformly on the iteration interval as the iteration number approaches to infinity. A simulation example is provided to illustrate the efficiency of the proposed control algorithm.

A fast tracking error control method for an autonomous mobile robot

Robotica ◽  
1993 ◽  
Vol 11 (3) ◽  
pp. 209-215 ◽  
Author(s):  
S.S. Lee ◽  
J.H. Williams
Keyword(s):  
Mobile Robot ◽  
Error Control ◽  
Control Method ◽  
Tracking Error ◽  
Kinematic Model ◽  
Practical Applications ◽  
Fast Tracking ◽  
Current State ◽  
Experimental Vehicle ◽  
Tracking Error Control

SUMMARYThis paper proposes a fast tracking error control method for a mobile robot with two differentially driven wheels. The tracking error between reference state and current state is transformed to the required displacement changes of each drive wheel by a wheel Jacobian. The major objective of this paper is to propose a control method for eliminating the tracking error quickly by controlling two independent driving wheels at the same time. To avoid long computational requirements of a Cartesian-based control, a kinematic model of the vehicle and co-ordinate system are introduced. Several simulation results are presented using this method. The fast tracking error control method proposed is mainly hardware-independent and Hence can be applied to various kinds of mobile robots which have two differentially driven wheels. The method was implemented on an experimental vehicle, WCVS, The experimentation shows a performance suitable for practical applications.

scholarly journals The Impact of the Dynamic Model in Feedback Linearization Trajectory Tracking of a Mobile Robot

2021 ◽  
Author(s):  
Welid Benchouche ◽  
Rabah Mellah ◽  
Mohammed Salah Bennouna
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Feedback Linearization ◽  
Position Control ◽  
Tracking Error ◽  
Kinematic Model ◽  
Control Approach ◽  
Output State ◽  
Lyapunov Stability Analysis ◽  
The Impact

This paper proposes the impact of the Dynamic model in Input-Output State Feedback Linearization (IO-SFL) technique for trajectory tracking of differential drive mobile robots, which has been restricted to using just the kinematics in most of the previous approaches. To simplify the control problem, this paper develops a novel control approach based on the velocity and position control strategy. To improve the results, the dynamics are taken into account. The objective of this paper is to illustrate the flaws unseen when adopting the kinematics-only controllers because the nonlinear kinematic model will suffice for control design only when the inner velocity (dynamic) loop is faster than the slower outer control loop. This is a big concern when using kinematic controllers to robots that don’t have a low-level controller, Arduino robots for example. The control approach is verified using the Lyapunov stability analysis. MATLAB/SIMULINK is carried out to determine the impact of the proposed controller for the trajectory tracking problem, from the simulation, it was discovered that the proposed controller has an excellent dynamic characteristic, simple, rapid response, stable capability for trajectory-tracking, and ignorable tracking error. A comparison between the presence and absence of the dynamic model shows the error in tracking due to dynamic system that must be taken into account if our system doesn’t come with a built-in one, thus, confirming the superiority of the proposed approach in terms of precision, with a neglectable difference in computations.

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