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In this paper, a finite-time trajectory tracking control approach is proposed for an unmanned surface vehicle (USV) with unknown dead-zones and unknown disturbances. External disturbances can be observed exactly by a robust homogeneous differentiator with finite-time convergence. Based on the information of the bounds of the dead-zone slopes as well as treating the time-varying inputs coefficients...
In recent years, underwater robots that propel and maneuver themselves like real fish, often called robotic fish, have emerged as promising mobile sensing platforms for freshwater and marine environments. For these active monitoring applications, efficient exploration along with economical locomotion is highly important, in order to optimize sensing coverage and guarantee long field operation time...
An increasing number of production cars are equipped with vehicle automation systems, which depend on a stable path or trajectory tracking. Nowadays, many cars come with several additional actuators like a rear-wheel-steering that can and should be considered for an efficient design of the tracking controller.
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...
A closed-loop optimal line-of-sight (LOS) guidance law is derived for second-order minimum and nonminimum phase control systems with two zeros. To reduce the effect of wind, the square of the velocity component normal to the LOS is added to performance index. The solution is normalized and obtained in one-dimension. The performance analysis is carried out using one-dimensional simulation and 3DOF...
Lawn mower trajectory tracking by a wheeled mobile robot, which is a nonholonomic system, is a challenging task. The study of this kind of trajectory is essential for precise survey, lawn mowing and other applications. Lawn mower trajectories can be generated by various ways. A continuous function of lawn mower path is an approximated lawn mower and may not be useful for prospective applications....
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...
This paper proposes a non-singular terminal sliding mode combined with time delay controller for fast tracking trajectory of uncertain second-order nonlinear systems in presence of external disturbances. The motivation for using Non-Singular Terminal Sliding Mode (NSTSM) mainly relies on its appreciable features, such as simplicity of design and implementation, high precision and fast convergence...
This manuscript presents a universal control law for a class of complex dynamic systems, such as mobile robots. The trajectory tracking problem is among the major problems in the field of robotics. The proposed universal control law solves the trajectory tracking problem of mobile robots. Despite a large body of research on developing robot's control laws conducted in the literature, the dynamic effects...
Aimed at the trajectory tracking control problem and dynamic collision avoidance problem of the nonholonomic car-like mobile robots under the unknown circumstance, a dynamic collision avoidance method based on nonlinear trajectory tracking control is proposed. Firstly, we develop mathematical model of the car-like mobile robot and design a trajectory tracking controller based on backstepping method...
This paper is concerned with the Optimal Sliding Mode Control (OSMC) for trajectory tracking of Multiple-Input Multiple Output (MIMO) systems. Integrating the first-order sliding mode control (SMC) with Linear-Quadratic-Regulator (LQR) is employed to design an optimal sliding manifold and a global robust control law for asymptotically stabilizing the system to a desired trajectory. The applicability...
This paper presents an intelligent method to detect statistic obstacles and generate an optimum and safe path for an autonomous mobile robot. An USB Camera is used to capture the robot environmental top-view image. Then image processing programs are used to extract the mobile robot initial position, the goal position and the static obstacles positions. The optimum path from the start position to the...
A new tracking controller for a wheeled mobile robot based on backstepping approach is presented. The proposed controller was developed based on the kinematic model of the nonholonomic wheeled mobile robot. The controller is verified through a well-established method Lyapunov function.
In this paper, we propose two different trajectory tracking consensus protocols for heterogeneous multi-agent system which comprises of heterogeneous agents. First, we propose a control law for achieving trajectory tracking in absence of time delay and analyze its stability using Lyapunov theory and Barbalat's lemma. Second, we design a control law based on estimators for achieving trajectory tracking...
This paper investigates the nonlinear model predictive control (NMPC) method for the trajectory tracking application of an autonomous underwater vehicle (AUV). To formulate the tracking control problem into the standard MPC scheme, the desired spatial reference trajectory is augmented according to the kinematic property of the AUV motion, which facilitates the following distributed model predictive...
The quadrotor is a useful platform to illustrate to the engineering students how the nonlinear controllers can be designed and implemented. Cameras can provide rich geometric and semantic information to assist the quadrotor in performing the tasks like hovering, trajectory/moving object tracking, and etc. In this paper, we introduce a stereo camera-equipped quadrotor platform, which is suitable for...
In consider of docking task of AUV and underwater moving platform, an AUV tracking controller is designed. In this controller, target trajectory is calculated to determine AUV expected velocity and heading angle, during which, Lyapunov stability law is followed. An AUV heading angle and velocity controller is designed based on active disturbance rejection controller (ADRC) considered the perturbation...
This paper presents an integrated cooperative control scheme for multiple quadrotors. The design of cooperative control scheme mainly consists of the upper formation controller and the bottom trajectory tracking controller. Firstly the “leader-follower” formation model and the quadrotor dynamic model are established, with trajectory tacking errors, measurement errors and communication time delay concerned...
The upper limb rehabilitation robot of end-traction type, because of complex working environment, it is very easy to collide with other objects and cause accidents. A loop-locked control algorithm for redundant upper limb rehabilitation robot is proposed in this paper and the algorithm is based on the transformation of master-slave task. It achieves the switch of the task of obstacle avoidance and...
This paper presents a PID fast terminal sliding mode dynamic inverse control method for wheeled mobile robots. Because of the nonlinear and nonholonomic properties, it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking. The PID Control is based on a fast terminal sliding mode control to ensure asymptotic stabilization of the robot's position and orientation...
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