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This study presents high-precision path tracking controllers to follow a parking path in which change in the movement direction is required along it. Compared with other existing path tracking controllers, the automatic control of the movement direction and the necessity of zero velocity at the switching and end points of the parking manoeuvre are considered in the controller design. To this aim,...
In order to realize stable lateral motion of the supercavitating vehicles in horizontal plane. First based on supercavitating vehicle dynamic characteristics and motion state analysis, using fuzzy logic method to the analysis on planing force, improvement kinematics equation of supercavitating vehicle on horizontal plane. Second useing state variable feedback exact linearization method to linearize...
This paper proposes novel formation maintenance strategies for multiple nonholonomic mobile robots based on nonholonomic trajectory tracking techniques and dynamic feedback linearization. It also presents experimental results for formation stability and noise tolerance of the proposed and existing leader-follower based controllers using physical P3AT robots. The research focusses only on the problem...
Designing smooth and stable trajectories for control of the biped robots is a challenging problem that is the focus of this article. A desired trajectory for the lower body will be designed to alleviate the impacts due to contact with the ground. This is obtained by fitting proper polynomials at appropriate break points. Then, planning the upper body motion is accomplished based on the zero moment...
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