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This paper addresses the problem of steering Underactuated Surface Vessels (USVs) along given paths. Due to dynamical uncertainty and ocean disturbances induced by unknown wind, waves and ocean currents, there exist some imperfections in dealing with this non-linear systems with traditional control algorithms. A novel trajectory following controller based on Active Disturbance Rejection Control (ADRC)...
This brief presents a nonlinear model predictive control (NMPC) method for the trajectory tracking problem of an autonomous underwater vehicle (AUV). By augmenting the desired output trajectory to a reference dynamical system, the tracking task can fit into the standard NMPC framework, which effectively avoids possible numerical difficulties in the following fast NMPC implementation. To relieve the...
Three-degree-of-freedom trajectory tracking of the stratospheric airship is investigated. With a simplified planar dynamic model, an adaptive backstepping sliding mode controller is designed to keep the airship to globally asymptotically track a desired trajectory. Lyapunov functions are used to ensure the tracking performance when model parametric uncertainty and external disturbances exist. Simulation...
In this study, the trajectory tracking control problem of a 2 degrees of freedom robotic orthosis for the lower limb rehabilitation is discussed. The robotic orthosis is actuated by a pair of self-made pneumatic artificial muscles (PAMs) in an antagonistic configuration. A second order plus dead time (SOPDT) linear model is chosen for describing the antagonistic actuator behavior. In order to enhance...
Autonomous Underwater Vehicle (AUV) is referred as a promising device to extend human intelligences to harsh underwater environment. Most applications of AUV demand accurate trajectory tracking, however the nonlinear and model inaccuracy constraints on AUV make it challenging to achieve tracking task. In this paper, we are concerned with the trajectory tracking problem for AUV. The AUV is assumed...
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process,...
In order to solve the problem of precise trajectory tracking control for a quadrotor in the presence of external disturbance and system model parameter uncertainty, a nonlinear trajectory tracking controller based on sliding mode for the quadrotor is designed. In this paper, the mathematical model of the QBall2 quadrotor considering the characteristics of the actuator is established and the virtual...
The trajectory tracking control problem of the quad-rotor is investigated in this paper. After introducing the dynamic equations of motion of a quad-rotor, considering the quad-rotor's characteristics like strong coupling, nonlinearity and under-actuation, the trajectory tracking is realized by proposing an effective attitude controller using fractional-order sliding mode control technique, which...
In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended payload. An input-output stable based trajectory tracking control law is first proposed. To the end of stabilizing the internal system, a coupling term is then added to the input-output control law. And then the semi-global stability of...
A new exponentially stable nonlinear control law is presented for trajectory tracking, hovering, and yaw motion tracking problems. Since linear motion of quadrotors is achieved via roll and pitch angles, a relationship between roll and pitch accelerations and motion trajectory is developed. An exponentially stable trajectory error dynamics is then formulated to derive the roll and pitch moments and...
A tractor-trailer wheeled robot (TTWR) is a kind of modular robotic system that consist of the tractor and the trailer are mechanically coupled to each other. It is impossible to obtain an exact dynamics model due to unknown parameters, or unpredictable and irregular features, external disturbance. Because of the non-holonomic constraints property, this paper proposes an adaptive robust cascade controller...
In this paper, bio-inspired models are introduced, combining with the backstepping control. A three-dimensional dynamic velocity trajectory tracking controller is designed. In order to solve the problem of “differential explosion” in the backstepping control of the underactuated unmanned underwater vehicle (UUV) three-dimensional trajectory tracking and reduce the complexity of the dynamics controller,...
The aim of this work is to provide a control strategy for a class of vehicles that is based on transformation of the velocity vector expressed in the earth-fixed coordinates. The presented trajectory tracking control algorithm can be applied for a class of fully actuated vehicles. To this class belong: underwater vehicles, indoor airships, and hovercrafts that move at low velocity (v < 3 m/s)....
Recently, there has been a growing interest in biomimetic underwater vehicles. Although a lot of research has been conducted in the area of dynamics and kinematics of robotic fish, most of the approaches solve the inverse problem by finding the required force the caudal fin should produce, in order for the robotic fish to follow a trajectory. Others use predefined undulatory body motions which usually...
The paper deals with predictive control of non-holonomic mobile robot. The basic nonlinear kinematic equation is linearized into two different linear time varying models based on frame of reference — world coordinates and local coordinate of mobile robot. The non-linear model predictive control is applied to the trajectory tracking problem of a non-holonomic mobile robot with these models. The control...
This paper introduces the fuzzy-PD controller, a novel approach of controlling a quadcopter, which is based on the Euler-Newton equations. The proposed fuzzy-PD includes a PD controller and a fuzzy system that adjusts the PD controller gains for stabilizing the quadcopter. It is an approach that applies a fuzzy concept to control a quadcopter. The proposed approach has been simulated and analyzed...
To deal with the three-dimensional trajectory tracking control problem for an underactuated AUV, a non-smooth controller based on adding a power integrator approach is designed in this paper. Firstly, the trajectory tracking error system is established based on the kinematic equation and dynamic equation of underactuated AUV. And the trajectory tracking error system is represented as a cascade system...
In this paper, an approach of trajectory tracking is proposed. The approach is based on two controls. Firstly, a quasi sliding mode control is proposed of the angular velocity in aim to converge the angle error to zero in short time with asymptotic stability. Secondly, a global sliding mode control for linear velocity is proposed, in order to bring the position error to zero and ensure the asymptotic...
The ability to land on a slope is a meaningful capability of a quadrotor. In slope landing, the controller applied to the quadrotor should precisely control the bottom plane parallel to the slope when touching down, as well as attenuate the disturbances from nonlinearities, ground effects and other interference. In this paper, an output feedback finite-horizon optimal control is used to accurately...
In this paper, an adaptive sliding mode controller is proposed, which is robust against external disturbances and parameter uncertainties. The proposed controller is designed to solve the trajectory tracking problem of ball and plate systems. Furthermore, it considers not just theoretical approach but practical approach. The external disturbances should be solved since there are various external disturbances...
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