scholarly journals Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Mingyu Fu ◽  
Shuang Gao ◽  
Chenglong Wang
Keyword(s):  
Dynamic System ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Control Input ◽  
Input Constraints ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
Trajectory Tracking Controller ◽  
Relationship Of ◽  
The Relationship

This paper develops a safety-guaranteed trajectory tracking controller for hovercraft by using a safety-guaranteed auxiliary dynamic system, an integral sliding mode control, and an adaptive neural network method. The safety-guaranteed auxiliary dynamic system is designed to implement system state and input constraints. By considering the relationship of velocity and resistance hump, the velocity of hovercraft is constrained to eliminate the effect of resistance hump and obtain better stability. And the safety limit of drift angle is well performed to guarantee the light safe maneuvers of hovercraft tracking with high velocities. In view of the natural capabilities of actuators, the control input is constrained. High nonlinearity and model uncertainties of hovercraft are approximated by employing adaptive radical basis function neural networks. The proposed controller guarantees the boundedness of all the closed-loop signals. Specifically, the tracking errors are uniformly ultimately bounded. Numerical simulations are implemented to demonstrate the efficacy of the designed controller.

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1551-1570 ◽  
Author(s):  
Hossein Mirzaeinejad ◽  
Ali Mohammad Shafei
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Tracking Accuracy ◽  
Wheeled Mobile Robots ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Control Approach ◽  
Prediction Time

SUMMARYThis study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers.

scholarly journals Model Identification and Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicles

Electronics ◽  
2019 ◽  
Vol 9 (1) ◽  
pp. 22 ◽  
Author(s):  
Xiaojie Sun ◽  
Guofeng Wang ◽  
Yunsheng Fan
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Point ◽  
Model Identification ◽  
Underactuated System ◽  
Trajectory Tracking Control ◽  
Unmanned Surface Vehicles ◽  
Trajectory Tracking Controller

To promote the development of military and civilian applications for marine technology, more and more scientific research around the world has begun to develop unmanned surface vehicles (USVs) technology with advanced control capabilities. This paper establishes and identifies the model of vector propulsion USV, which is widely used at present. After analyzing its actuator distribution, we consider that the more realistic vessel model should be an incomplete underactuated system. For this system, a virtual control point method is adopted and an adaptive sliding mode trajectory tracking controller with neural network minimum learning parameter (NNMLP) theory is designed. Finally, in the simulation experiment, the thruster speed and propulsion angle are used as the inputs of the controller, and the linear and circular trajectory tracking tests are carried out considering the delay effect of the actuator, system uncertainty, and external disturbance. The results show that the proposed tracking control framework is reasonable.

scholarly journals Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking

Processes ◽  
2021 ◽  
Vol 9 (11) ◽  
pp. 1951
Author(s):  
Shun-Hung Tsai ◽  
Yi-Ping Chang ◽  
Hung-Yi Lin ◽  
Luh-Maan Chang
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Unmanned Aircraft ◽  
Trajectory Tracking Control ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Tracking Controller ◽  
Backstepping Sliding Mode Control ◽  
Trajectory Tracking Controller ◽  
The Stability

A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude tracking. The stability of the trajectory tracking controller of the quadrotor is investigated via Lyapunov stability analysis. By incorporating force and torque disturbances into numerical simulations, the results demonstrate the effectiveness of the proposed quadrotor trajectory controller. Finally, the experiments validate the feasibility of the proposed controller.

A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2546-2565 ◽  
Author(s):  
Mario E. Serrano ◽  
Sebastián A. Godoy ◽  
Vicente A. Mut ◽  
Oscar A. Ortiz ◽  
Gustavo J. E. Scaglia
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Experimental Results ◽  
Tracking Errors ◽  
Simple Scheme ◽  
Trajectory Tracking Control ◽  
Control Actions ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

SUMMARYThis paper addresses the problem of trajectory tracking control in mobile robots under velocity limitations. Following the results reported in ref. [1], the problem of trajectory tracking considering control actions constraint is focused and the zero convergence of the tracking errors is demonstrated. In this work, the original methodology is expanded considering a controller that depends not only on the position but also on the velocity. A simple scheme is obtained, which can be easily implemented in others controllers of the literature. Experimental results are presented and discussed, demonstrating the good performance of the controller.

scholarly journals Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

2019 ◽  
Vol 9 (18) ◽  
pp. 3873 ◽  
Author(s):  
Anh Tung Nguyen ◽  
Nguyen Xuan-Mung ◽  
Sung-Kyung Hong
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Technique ◽  
Control Input ◽  
Gravitational Acceleration ◽  
Control Performance ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
New Approach ◽  
Suitable Parameter

Nowadays, quadcopter unmanned aerial vehicles play important roles in several real-world applications and the improvement of their control performance has become an increasingly attractive topic of a great number of studies. In this paper, we present a new approach for the design and stability analysis of a quadcopter adaptive trajectory tracking control. Based on the quadcopter nonlinear dynamics model which is obtained by using the Euler–Lagrange approach, the tracking controller is devised via the backstepping control technique. Besides, an adaptive law is proposed to deal with the system parameterized uncertainties and to guarantee that the control input is finite. In addition, the vehicle’s vertical descending acceleration is ensured to not exceed the gravitational acceleration by making use of a barrier Lyapunov function. It is shown that the suitable parameter estimator is stable and the tracking errors are guaranteed to be asymptotically stable simultaneously. By prescribing certain flight conditions, we use numerical simulations to compare the control performance of our method to that of existing approaches. The simulation results demonstrate the effectiveness of the proposed algorithm.

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