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An adaptive control strategy is developed for spacecraft attitude tracking maneuvers, in the presence of structured uncertainty in the spacecraft inertia parameters. The proposed strategy incorporates a composite parameter update law, which guarantees global asymptotic stability of the overall closed-loop system. A stability analysis is performed using Lyapunov's direct method, in conjunction with...
In this work we focus on iterative learning control (ILC) design for tracking iteration-varying reference trajectories that are generated by high-order internal models (HOIM). An HOIM can be formulated as a polynomial operator between consecutive iterations to describe the changes of desired trajectories in the iteration domain. The classical ILC for tracking iteration-invariant reference trajectories,...
In this paper, the formation flight of multiple Unmanned Helicopter (UH) systems is researched and a new decentralized receding horizon formation control algorithm is supposed. The formulation of formation control problem is firstly given where a local tracking controller for each helicopter system is supposed and the flight trajectories are taken as optimizing variables. Secondly, full dynamics of...
Sensor quantization is one of the key factors that deteriorate the tracking performance of positioning systems with low-resolution optical encoders. This paper presents a reset kinematic state estimator (RKSE) by merging an accelerometer to improve the performance of such systems. The RKSE is immune to both system perturbations and input disturbances and offers more accurate state estimation than...
This paper presents the design and control of a rotary dual-stage actuator (DSA) system, which consists of a voice coil motor (VCM) and a piezoelectric (PZT) microactuator. The performance of the mechanical design is analyzed using a finite element method (FEM) software, whose simulation results are validated experimentally. A nonlinear tracking control is applied to the developed DSA platform for...
In this paper, the quadratic-programming (QP) based scheme-formulation is employed to handle the joint-angle-drift problem of a redundant three-link planar robot arm with its end-effector moving along different types of trajectories (e.g., a Lissajous-figure path, a triangular path and an elliptical path). The physical constraints such as joint limits and joint velocity limits are considered as well...
An recurrent fuzzy neural network (RFNN) compensation strategy combined with the backstepping approach for permanent magnet linear synchronous motors (PMLSMs) drive is proposed. Considering the lumped uncertainties with parameter variations and external disturbance for an actual PMLSM drives, a backstepping control law is derived by backstepping design technique. However, the upper bound of the lumped...
Continuous path tracking control is an important technology for the position control system such as factory automation field. Particularly, large acceleration and/or deceleration torque is required for continuous path tracking control at its start position and its goal position. Each AC servo motor of continuous path tracking control has limitation of current and voltage. Therefore, in controlling...
In this paper, an artificial neural network (ANN) based control scheme is introduced for the inverted pendulum motion and posture control problem. The adaptive control strategy consists of a Lyapunov stability-based online weights adaptation that provides asymptotic tracking while learning the nonlinear inverted pendulum system's dynamics. Unlike other control strategies, no a priori offline training,...
Vehicle following for traffic safety has been an active area of research. During manual driving, most human drivers often use information about the speed and position of the preceding vehicles in order to adjust the position and speed of their vehicles. The purpose of this paper is to design an autonomous intelligent cruise control (AICC) which mimics this human driving behavior. The proposed AICC...
Formation control in uncertain environment is studied, including the control process noise and measurement noise. The decoupled Kalman filter based on discrete model is established. And the control performances based on absolute positioning sensor, relative positioning sensor or fusion of these two kinds of sensor are studied. Simulations show that absolute positioning sensor could assure the formation...
This paper treats a trajectory tracking control of a mobile robot by a single CCD camera and range sensors. First, the mobile robot detects the obstacle based on information of both the image and the distance. And then, from the obstacle information, the mobile robot generates a trajectory to avoid the obstacle. Finally, the usefulness of our proposed methods is demonstrated through experiment.
In this paper, a combined intelligent technique is introduced for the trajectory tracking control of a nonholonomic wheeled mobile robot (WMR), which comprises an interval type-2 fuzzy kinematic control (IT2-FKC) and an interval type-2 fuzzy terminal sliding-mode dynamic control (IT2-FTSMDC). Firstly, an interval type-2 fuzzy logic controller designed for the kinematic model of the WMR is introduced,...
In the context of 3-D scene modeling, this work aims at the accurate estimation of the pose of a close-range 3-D modeling device, in real-time and passively from its own images. This novel development makes it possible to abandon using inconvenient, expensive external positioning systems. The approach comprises an ego-motion algorithm tracking natural, distinctive features, concurrently with customary...
We describe in this paper the application of evolutionary methods for the optimization of type-2 fuzzy logic controllers. These optimal type-2 fuzzy logic controllers are used for the trajectory tracking control of autonomous mobile robots. The evolutionary method to consider is the genetic algorithm, presenting simulations results in Simulink?? of Matlab.
Traditional bilateral teleoperation communicates both motion and force information explicitly between master and slave devices. Any such closed loop architecture trades off performance with potential instability, especially when using force measurements of high inertia slaves contacting stiff environments. More conservatively, open-loop architectures avoid stability issues, transmitting motion commands...
Robust localization of robots and reliable tracking of people are both critical requirements for the deployment of service robots in real-world environments. In crowded public spaces, occlusions can impede localization using on-board sensors. At the same time, teams of service robots working together need to share the locations of people and other robots on the same global coordinate system in order...
In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the...
In this paper, we propose an adaptive fuzzy output feedback control method for trajectory tracking control problem for robotic systems. Using Lyapunov method, we first develop a stable adaptive fuzzy state feedback control algorithm by assuming that the systems output and its derivatives are available for feedback control design. The algorithm combines fuzzy systems with robust adaptive controller...
This paper describes a model-based probabilistic framework for tracking a fleet of laboratory-scale underwater vehicles using multiple fixed cameras. We model the target motion as a steered particle whose dynamics evolve on the special Euclidean group. We provide a likelihood function that extracts three-dimensional position and pose measurements from monocular images using projective geometry. The...
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