Semiglobal Trajectory Tracking Control Law for a Nonlinear Nonminimum Phase Three-Degree-of-Freedom Flight Vehicle

2009 ◽  
Vol 32 (2) ◽  
pp. 693-699
Author(s):  
Saif A. Al-Hiddabi
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degree Of Freedom ◽  
Control Law ◽  
Flight Vehicle ◽  
Trajectory Tracking Control ◽  
Nonminimum Phase ◽  
Three Degree Of Freedom

617 Trajectory Tracking Control of Three-Degree-of-Freedom Robot Driven by Stepping Motors

2005 ◽  
Vol 2005 (0) ◽  
pp. _617-1_-_617-5_
Author(s):  
Hiroyuki KOJIMA ◽  
Hideyuki CHIGIRA ◽  
Yoshihumi KUWANO ◽  
Keiichi ABE ◽  
NORIYOSHI Kikuchi ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degree Of Freedom ◽  
Trajectory Tracking Control ◽  
Three Degree Of Freedom

scholarly journals Discrete-time predictive trajectory tracking control for nonholonomic mobile robots with obstacle avoidance

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987731
Author(s):  
Jingjun Zhang ◽  
Shaobo Zhang ◽  
Ruizhen Gao
Keyword(s):  
Obstacle Avoidance ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Nonholonomic Mobile Robots ◽  
Trajectory Tracking Control ◽  
Time Model ◽  
Control Approach ◽  
Avoidance Control

This article presents a tracking control approach with obstacle avoidance for a mobile robot. The control law is composed of two parts. The first is a discrete-time model predictive method-based trajectory tracking control law that is derived using an optimal quadratic algorithm. The second part is the obstacle avoidance strategies that switch according to two different designed obstacle avoidance regions. The controllability of the avoidance control law is analyzed. The simulation results validate the effectiveness of the proposed control law considering both trajectory tracking and obstacle avoidance.

scholarly journals Construction of a WMR for Trajectory Tracking Control: Experimental Results

2013 ◽  
Vol 2013 ◽  
pp. 1-17 ◽  
Author(s):  
R. Silva-Ortigoza ◽  
C. Márquez-Sánchez ◽  
M. Marcelino-Aranda ◽  
M. Marciano-Melchor ◽  
G. Silva-Ortigoza ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Kinematic Model ◽  
Cubic Splines ◽  
Control Law ◽  
Level Control ◽  
Trajectory Tracking Control ◽  
Smooth Curves ◽  
Low Level ◽  
High Level

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position(x*,y*)and orientation(φ*). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data pointsx1*,y1*,…,xn*,yn*. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

A trajectory tracking control law for a quadrotor with slung load

Automatica ◽  
2019 ◽  
Vol 106 ◽  
pp. 384-389 ◽  
Author(s):  
David Cabecinhas ◽  
Rita Cunha ◽  
Carlos Silvestre
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Trajectory Tracking Control

An Improved Controller Based on Chattering-Free Trajectory-Tracking Control for Underwater Profile Monitoring Vehicle

2014 ◽  
Vol 568-570 ◽  
pp. 944-947
Author(s):  
Hong Bin Zhang ◽  
Jian Yuan
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Control Law ◽  
Profile Monitoring ◽  
Trajectory Tracking Control ◽  
Distributed Controller ◽  
Chattering Free ◽  
Automation Control

An improved distributed controller for underwater profile monitoring vehicle is investigated. A chattering-free tracking control law based on chattering-free trajectory-tracking control method is proposed to make a automation control of the vehicle and a manual/auto swtiched distributed controller on Underwater Profile Monitoring Vehicle is desinged. We give the designing procedure of hardware and software of the controller.

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