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In quantum state transfer and tracking, control of quantum states are effective against decoherence caused by external environment and information processing. In this paper, utilizing model reference adaptive control theory and Lyapunov stability theorem, we derive the adaptive law for the model reference adaptive system. Then we design the Lyapunov control law by double control functions and we investigate...
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...
For the trajectory tracking in three degrees of freedom underactuated ships with parameters uncertainties and time-varying disturbances, a robust sliding-mode methodology is proposed. The ship's mass matrices are not assumed to be diagonal, as often required in the literature. Based on the coordinate transformations, the nonzero off-diagonal matrices are turned into the diagonal matrices. The controller...
This paper proposes a control scheme considering both vehicle velocity responses and trajectory tracking performance for four wheels drive (4WD) vehicles, subject to the actuator constraints, external disturbance and various physical limits. The presented hierarchical control architecture consists of the trajectory planning module based on model predictive control (MPC) technique and dynamics control...
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,...
For the problem of sail-assisted ship prone to track deviation influenced by wind and other disturbances, a fuzzy adaptive iterative sliding mode control method is presented. The evaluation function is introduced into fuzzy control scheme to evaluate and adjust the designed parameters online. Under the proposed method, the estimation of the uncertain parameters and disturbances can be avoided, moreover,...
This paper addresses the problem of trajectory tracking control for an unmanned surface vehicle(USV) with unknown disturbances and input saturation. Let the saturation function is divided into a smooth function and a bounded function, the saturation function can be approximated by smooth function and the bounded function which can be treated as a system uncertainty. An auxiliary design system is employed...
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...
This paper presents nonlinear robust trajectory tracking strategies for the hypersonic vehicle whose ailerons are stuck at an unknown angular position. Firstly, a time-varying sliding mode control strategy for general second-order systems is introduced, and the chattering of sliding mode controller is alleviated. Secondly, the dynamics of hypersonic vehicle are transformed into two second-order systems...
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...
Trajectory tracking is one of the most control tasks for robotic manipulators. To take the advantages of nonlinear PD (NPD) control and sliding mode control (SMC), a NPD-SMC law is proposed for tracking control of a 3-DOF planar robotic manipulator. The NPD-SMC is a nonlinear feedback control without the requirement of system dynamic modeling. The proposed NPD-SMC is applied for linear and nonlinear...
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...
Because of the remarkable non-linearity, large inertia and strong atmospheric disturbances, traditional control methods cannot ensure the trajectory tracking control performance for a parafoil airdrop robot. In this sense, we propose a trajectory tracking control method based on active disturbance rejection control. Then the proposed control method is evaluated by simulation and airdrop experiment...
This paper addresses the optimal kinematic control problem of the mobile manipulators. A computationally simple class of the Jacobian transpose control algorithms is proposed for the end-effector trajectory tracking. These controllers use a new non-singular Terminal Sliding Mode (TSM) manifold, as being a non-linear integral mapping of the second order with respect to the task space tracking error...
Galvanometer laser scanners are high-performance rotary motors for optical applications and are often utilized in production engineering. The dynamic properties of current scanner systems do not always fulfill the desired requirements. The controler-based solutions that have been presented in the past years primarily concentrate on changes in operation points or simple trajectories and neglect to...
This paper addresses the trajectory tracking problem which will be regarded as an open-loop planning problem, in contrast to various feedback motion control methods. The trajectory tracking problem is formulated as the constrained motion planning problem, whereas constraints reflect the distance in the task space between the system output and the desired trajectory. The problem consists in defining...
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,...
This article mainly presents a control method for an underactuated tractor-trailer vehicle, subject to the nonholonomic constraint, uncertain disturbance and various physical limits, which is aimed at receiving a good tracking performance. All in all, linear quadratic regulator (LQR) and model predictive control (MPC) are used to design the posture controller to make the midpoint of two parallel plating...
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