Robustness of Adaptive Control under Time Delays for Three-Dimensional Curve Tracking

2015 ◽  
Vol 53 (4) ◽  
pp. 2203-2236 ◽  
Author(s):  
Michael Malisoff ◽  
Fumin Zhang
Keyword(s):  
Adaptive Control ◽  
Time Delays ◽  
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

Robust and adaptive control of three dimensional revolute-jointed cooperative manipulators for handling automation

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 163-172
Author(s):  
Hürvet Sarikaya ◽  
Recep Burkan ◽  
İbrahim Uzmay
Keyword(s):  
Adaptive Control ◽  
Robust Control ◽  
Control Algorithm ◽  
Uncertain Systems ◽  
Three Dimensional ◽  
Structural Flexibility ◽  
Adaptive Law ◽  
Guaranteed Stability ◽  
Manipulation System ◽  
Adaptive Control Algorithm

This paper presents a study of the application of adaptive and robust control methods to a cooperative manipulation system which is developed for handling an object by three dimensional revolute-jointed manipulators. The adaptive control algorithm supports the parameter adaptive law that provides guaranteed stability for uncertain systems. In designing the robust control structure, contact and friction constraints for grasp and bearing conditions, structural flexibility or such similar factors as various unmodeled dynamics are considered as uncertainties that determine available values of control parameters. The novelty of results in the present paper is to define new control inputs using parametric uncertainties and the Lyapunov based theory of guaranteed stability of uncertain systems for handling objects in a spatial workspace.

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