Autonomous Motion Control of Bacteria Powered Microrobots Using Electric Fields

2021 ◽  
Author(s):  
Hoyeon Kim
Keyword(s):  
Motion Control ◽  
Electric Fields ◽  
Autonomous Motion

An energy-time optimal autonomous motion control framework for overhead cranes in the presence of obstacles

2020 ◽  
pp. 095440622095450
Author(s):  
Xinwei Wang ◽  
Jie Liu ◽  
Xianzhou Dong ◽  
Haijun Peng ◽  
Chongwei Li
Keyword(s):  
Motion Control ◽  
Trajectory Tracking ◽  
Overhead Cranes ◽  
Control Framework ◽  
Weighted Matrix ◽  
Autonomous Motion ◽  
Avoidance Condition ◽  
Time Optimal ◽  
Predictive Controller ◽  
Time And Energy

This paper focuses on the autonomous motion control of 3-D underactuated overhead cranes in the presence of obstacles, and an “offline motion planning + online trajectory tracking” framework is developed. In the motion planner, to meet the balance between transfer time and energy consumption, the transfer mission is formulated as an energy-time hybrid optimal control problem. And a simple and conservative collision-avoidance condition is derived. To achieve fast and robust calculations, an iterative procedure that determines optimal terminal time based on the secant method is developed. Finally, to realize the high-precision trajectory tracking and fast residual sway suppression, a model predictive controller with a piecewise weighted matrix is designed. Numerical simulation demonstrates that the discussed framework is effective.

A Novel EPT Autonomous Motion Control Framework for an Off-axle Hitching Tractor-trailer System with Drawbar

2020 ◽  
pp. 1-1
Author(s):  
Jie Liu ◽  
Xianzhou Dong ◽  
Junyu Wang ◽  
Oskar Ljungqvist ◽  
Chen Lu ◽  
...  
Keyword(s):  
Motion Control ◽  
Control Framework ◽  
Autonomous Motion

scholarly journals A learning-based flexible autonomous motion control method for UAV in dynamic unknown environments

2021 ◽  
Vol 32 (6) ◽  
pp. 1490-1508
Author(s):  
Wan Kaifang ◽  
Li Bo ◽  
Gao Xiaoguang ◽  
Hu Zijian ◽  
Yang Zhipeng
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Unknown Environments ◽  
Autonomous Motion
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