Velocity-Based Control of Manipulator/Vehicle System Floating on Water

1997 ◽  
Vol 9 (5) ◽  
pp. 318-323 ◽  
Author(s):  
Hisashi Kajita ◽  
◽  
Kazuhiro Kosuge
Keyword(s):  
Coordinate System ◽  
Rate Control ◽  
Tracking Control ◽  
Control Algorithm ◽  
Inertial Coordinate System ◽  
Trajectory Tracking Control ◽  
Vehicle System ◽  
Position And Orientation ◽  
The Stability ◽  
External Forces

A manipulator/vehicle system floating on water consists of a vehicle with a manipulator attached to it. Similar to the space manipulator system, the system on water is not fixed to an inertial coordinate system. So, external forces affect the motion of the system. In this paper, we propose an algorithm for controlling the position and orientation of the end-effector of the manipulator/vehicle system in an inertial coordinate system under the assumption that the stability of the vehicle is maintained. We derive the kinematics of the system and propose a trajectory tracking control algorithm based on the resolved motion rate control, then prove convergence of the control algorithm using the Lyapunov's method. Experimental results illustrate the validity of the proposed control algorithm.

scholarly journals Adaptive trajectory tracking control strategy of intelligent vehicle

2020 ◽  
Vol 16 (5) ◽  
pp. 155014772091698
Author(s):  
Shuo Zhang ◽  
Xuan Zhao ◽  
Guohua Zhu ◽  
Peilong Shi ◽  
Yue Hao ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Control Algorithm ◽  
Feedback Controller ◽  
Intelligent Vehicle ◽  
Trajectory Tracking Control ◽  
Vehicle System ◽  
Attitude Angle ◽  
Velocity Deviation

The trajectory tracking control strategy for intelligent vehicle is proposed in this article. Considering the parameters perturbations and external disturbances of the vehicle system, based on the vehicle dynamics and the preview follower theory, the lateral preview deviation dynamics model of the vehicle system is established which uses lateral preview position deviation, lateral preview velocity deviation, lateral preview attitude angle deviation, and lateral preview attitude angle velocity deviation as the tracking state variables. For this uncertain system, the adaptive sliding mode control algorithm is adopted to design the preview controller to eliminate the effects of uncertainties and realize high accuracy of the target trajectory tracking. According to the real-time deviations of lateral position and lateral attitude angle, the feedback controller is designed based on the fuzzy control algorithm. For improving the adaptability to the multiple dynamic states, the extension theory is introduced to design the coordination controller to adjusting the control proportions of the preview controller and the feedback controller to the front wheel steering angle. Simulation results verify the adaptability, robustness, accuracy of the control strategy under which the intelligent vehicle has good handling stability.

scholarly journals A Distance-Reduction Trajectory Tracking Control Algorithm for a Rear-Steered AGV

2018 ◽  
Vol 7 (2) ◽  
pp. 81-94
Author(s):  
Anugrah K Pamosoaji
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Control Design ◽  
Control Algorithms ◽  
Trajectory Tracking Control ◽  
Reference Distance ◽  
Position And Orientation

This paper presents a Lyapunov-based switched trajectory tracking control design for a rear-steered automated guided AGV (AGV). Given a moving reference whose position and orientation have to be tracked by the AGV, the main objective of the controller is to reduce AGV’s distance from the reference while adjusting its orientation. The distance reduction issue is important, especially in huge warehouses operating a group of AGVs, since the rate of AGV-to-reference distance reduction contributes to the possibility of AGV-to-AGV collision. A set of control algorithms is proposed to handle large AGV’s orientation. Simulations that show the performance of the proposed method is presented.

scholarly journals An adaptive hierarchical control for aerial manipulators

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1527-1550 ◽  
Author(s):  
Francesco Pierri ◽  
Giuseppe Muscio ◽  
Fabrizio Caccavale
Keyword(s):  
Control Algorithm ◽  
Hierarchical Control ◽  
Bottom Layer ◽  
Trajectory Tracking Control ◽  
Aerial Manipulator ◽  
Control Scheme ◽  
Modelling Uncertainties ◽  
Aerial Vehicle ◽  
The Stability

SUMMARYThis paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach.

scholarly journals Autonomous Trajectory Tracking Control for a Large-Scale Unmanned Helicopter under Airflow Influence

2019 ◽  
Vol 2019 ◽  
pp. 1-15
Author(s):  
Zhi Chen ◽  
Xiaowei Tu ◽  
Qinghua Yang ◽  
Daobo Wang ◽  
Jian Fu
Keyword(s):  
Tracking Control ◽  
Large Scale ◽  
Sliding Mode ◽  
Hierarchical Control ◽  
Hardware In The Loop ◽  
Wind Disturbance ◽  
Unmanned Helicopter ◽  
Trajectory Tracking Control ◽  
Practical Engineering ◽  
The Stability

In this paper, a complete nonlinear dynamic unmanned helicopter model considering wind disturbance is proposed to achieve realistic simulations and teasing out the effect of wind on the control system. The wind velocity vector which is horizontal as seen in the inertial frame can be obtained by subtracting the airspeed measured by atmospheric data computer from the inertial speed measured by GPS. The design of the controller fully considers the existence of wind, and the wind disturbance is suppressed by the method of hierarchical control combined with the integral sliding mode control (SMC). The stability proof is given. Hardware in the loop (HIL) tool is employed as a practical engineering solution, and it is an essential step in validating the new algorithm before moving to real flight experiments.

scholarly journals Trajectory Tracking Control Algorithm for Autonomous Vehicle Considering Cornering Characteristics

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 59470-59484 ◽  
Author(s):  
Jingwei Cao ◽  
Chuanxue Song ◽  
Silun Peng ◽  
Shixin Song ◽  
Xu Zhang ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Trajectory Tracking Control

Implementing Trajectory Tracking Control Algorithm for Autonomous Vehicles

2021 ◽  
Author(s):  
Xuting Duan ◽  
Qi Wang ◽  
Daxin Tian ◽  
Jianshan Zhou ◽  
Jian Wang ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Autonomous Vehicles ◽  
Tracking Control ◽  
Control Algorithm ◽  
Trajectory Tracking Control

A Trajectory Tracking Control Algorithm of Nonholonomic Wheeled Mobile Robot

2021 ◽  
Author(s):  
Rui Deng ◽  
Qingfang Zhang ◽  
Rui Gao ◽  
Mingkang Li ◽  
Peng Liang ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Algorithm ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control
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