scholarly journals Dynamic Modelling, Tracking Control and Simulation Results of a Novel Underactuated Wheeled Manipulator (WAcrobot)

10.5772/10191 ◽  
2010 ◽  
Author(s):  
Mohsen Moradi ◽  
Bijan Shirinzadeh
Keyword(s):  
Tracking Control ◽  
Dynamic Modelling ◽  
Simulation Results

A Robust Trajectory Tracking Control Scheme of Two-Link Flexible Manipulator

2011 ◽  
Vol 328-330 ◽  
pp. 2108-2112
Author(s):  
Jing Shuang Lu ◽  
Chun Mei Du ◽  
Rui Zhou ◽  
Na Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Vertical Plane ◽  
Flexible Manipulator ◽  
System Model ◽  
Error Signal ◽  
Dynamics Model ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
Simulation Results

A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.

Adaptive Tracking Control of Wheeled Mobile Robots

2011 ◽  
Vol 55-57 ◽  
pp. 1195-1199 ◽  
Author(s):  
Min Zuo ◽  
Guang Ping Zeng ◽  
Xu Yan Tu
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Control Input ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Velocity Increments ◽  
Simulation Results ◽  
Adaptive Control Scheme

Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.

Adaptive sliding tracking control for nonlinear uncertain robotic systems with unknown actuator nonlinearities

Robotica ◽  
2021 ◽  
pp. 1-20
Author(s):  
Shubo Liu ◽  
Guoquan Liu ◽  
Shengbiao Wu
Keyword(s):  
Control Problem ◽  
Prior Knowledge ◽  
Control Strategy ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Robotic Systems ◽  
Actuator Nonlinearities ◽  
Simulation Results

Abstract This study is concerned with the tracking control problem for nonlinear uncertain robotic systems in the presence of unknown actuator nonlinearities. A novel adaptive sliding controller is designed based on a robust disturbance observer without any prior knowledge of actuator nonlinearities and system dynamics. The proposed control strategy can guarantee that the tracking error eventually converges to an arbitrarily small neighborhood of zero. Simulation results are included to demonstrate the effectiveness and superiority of the proposed strategy.

ACTIVE TRACKING CONTROL OF THE HYPERCHAOTIC LORENZ SYSTEM

2008 ◽  
Vol 22 (19) ◽  
pp. 1859-1865 ◽  
Author(s):  
XINGYUAN WANG ◽  
DAHAI NIU ◽  
MINGJUN WANG
Keyword(s):  
Numerical Simulation ◽  
Tracking Control ◽  
Chaotic Systems ◽  
Lorenz System ◽  
The Self ◽  
Hyperchaotic System ◽  
Reference Signals ◽  
Tracking Controller ◽  
Hyperchaotic Lorenz System ◽  
Simulation Results

A nonlinear active tracking controller for the four-dimensional hyperchaotic Lorenz system is designed in the paper. The controller enables this hyperchaotic system to track all kinds of reference signals, such as the sinusoidal signal. The self-synchronization of the hyperchaotic Lorenz system and the different-structure synchronization with other chaotic systems can also be realized. Numerical simulation results show the effectiveness of the controller.

Stability Analysis of a Class of Nonlinear Controllers

2003 ◽  
Author(s):  
T. Ravichandran ◽  
G. R. Heppler ◽  
D. W. L. Wang
Keyword(s):  
Stability Analysis ◽  
Exponential Stability ◽  
Tracking Control ◽  
Global Exponential Stability ◽  
Feedback Controller ◽  
Nonlinear Gain ◽  
Nonlinear Controllers ◽  
Simulation Results ◽  
Pd Feedback Controller ◽  
The Stability

The stability analysis of a class of nonlinear PD-plus-feedforward controllers is presented for the tracking control of rigid robot manipulators. The controller structure is composed of a nonlinear gain PD feedback controller and a manipulator dynamics feedforward term. The class of representations used for the nonlinear gain PD feedback controller is extended and global exponential stability is proved. Simulation results are included to illustrate the performance of this class of nonlinear controllers.

scholarly journals Expected yaw rate–based trajectory tracking control with vision delay for intelligent vehicle

2020 ◽  
Vol 103 (3) ◽  
pp. 003685042093427
Author(s):  
Qiu Xia ◽  
Long Chen ◽  
Xing Xu ◽  
Yingfeng Cai ◽  
Haobin Jiang ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Intelligent Vehicle ◽  
Automatic Identification ◽  
Identification System ◽  
Vehicle Stability ◽  
Trajectory Tracking Control ◽  
Automatic Identification System ◽  
Kalman Predictor ◽  
Simulation Results

Accurate and real-time position of preview point is significant to trajectory tracking control of vision-guided intelligent vehicle. The unavoidable delay of road automatic identification system weakens trajectory tracking control performance, and even deteriorates the vehicle stability. Therefore, a compensator for the delay of road automatic identification system was proposed which combines the current statistical model and adaptive Kalman predictor to estimate the state of preview point position. The trajectory tracking sliding mode controller of intelligent vehicle is established through a 2–degrees of freedom vehicle dynamic model and motion model by using MATLAB/Simulink and CarSim. The trajectory tracking performance under 20–100 ms delay is analyzed. The simulation results show that the trajectory tracking performance of intelligent vehicle will be affected by the delay of road automatic identification system, reducing tracking accuracy. And when the delay is too large, it will deteriorate the vehicle stability and safety. In addition, the simulation results also verify the effectiveness of current statistical–adaptive Kalman predictor compensator at different delays.

scholarly journals Dynamic modelling and analysis of 3D overhead gantry crane system

2018 ◽  
Vol 7 (3) ◽  
pp. 1257
Author(s):  
Khalil Azha Mohd Annuar ◽  
Nik Azran Ab. Hadi ◽  
Mohamad Haniff Harun ◽  
Mohd Firdaus Mohd Ab. Halim ◽  
Siti Nur Suhaila Mirin ◽  
...  
Keyword(s):  
Linear Model ◽  
Nonlinear Dynamic ◽  
Equations Of Motion ◽  
Dynamic Modelling ◽  
Gantry Crane ◽  
Nonlinear Dynamic Model ◽  
Simulation Results ◽  
And Performance ◽  
Heavy Loads ◽  
Load Swing

The overhead gantry crane systems are extensively used in harbours and factories for transportation of heavy loads. The crane speeding up, required for motion, always induces undesirable load swing. This writings present dynamic modelling of a 3D overhead gantry crane sys-tem based on closed-form equations of motion. By using the Lagrange technique, a 3D overhead gantry crane system nonlinear dynamic model is deriving. Then perform a linearization process to obtain a linear model dynamic system. Finally, simulation results systems re-sponses of the derived nonlinear and linear model are presented showing the accuracy and performance of both model.  

Digital robust preview control of path tracking

2005 ◽  
Vol 219 (1) ◽  
pp. 111-116
Author(s):  
Y G Tan ◽  
D K Liu ◽  
F Liu ◽  
Z D Zhou
Keyword(s):  
Control Systems ◽  
Tracking Control ◽  
Control Method ◽  
Path Tracking ◽  
Trajectory Control ◽  
Control Problems ◽  
Preview Control ◽  
Input Signals ◽  
Simulation Results ◽  
Reference Input

A robust optimal preview control method is presented in this paper for path tracking control problems to improve robustness and tracking precision of path tracking control systems. The known path information is used as reference input signals. Simulation results show that this method is valid not only for improving the performance of highly accurate trajectory control but also for improving system stabilization.

Dynamic Autonomous Car Mobile Analysis Simulating Mechanical Systems Analysis – First Dynamic Characteristics of Running Mouse –

1998 ◽  
Vol 10 (6) ◽  
pp. 488-493
Author(s):  
Shigeki Toyama ◽  
◽  
Yasuo Murakuki
Keyword(s):  
Dynamic Characteristics ◽  
Systems Analysis ◽  
Tracking Control ◽  
Mechanical Systems ◽  
Dc Motor ◽  
Path Tracking ◽  
Running Performance ◽  
Tire Force ◽  
Simulation Results

This paper dynamically simulates a small running 2DW2C automobile (mouse) and simulates path tracking control. Our purpose was to optimize mouse design using simulation results. We added tire force and DC motor force to A1 Motion, a simulator for analyzing mechanical systems developed in our laboratory, and improved the simulator simulating a running automobile. Experiments with a small 2DW2C automobile compared experimental and simulation results involving dynamic characteristics of an actual mouse. We got correct simulation results using this model and simulator. We studied its running performance, affected by its wheelbase and caster length, and evaluated path tracking control using closoidal curves.

Sign in / Sign up

Export Citation Format

Share Document