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Most of the controllers design are based on a process model. Generally, the processes are nonlinear, of high order and thus the number of tuning parameters for the controller are in proportion to the model order. Mobile robot models are nonlinear and complex, and the use of traditional procedures to design the SMC would result in a really extensive and probably inefficient expression. For that reason,...
The rapid integration of wind power has begun to impact overall power system control, and particularly frequency control. On the other hand, power system sensor and measurement technologies have shown great improvement during the last decade. These technologies could allow for greater use of advanced control techniques based on wide-area measurement signals to mitigate the challenges related to wind...
Aiming at traffic jams and potential traffic danger and other traffic problems at present, research on trajectory following control based on vehicle to vehicle communication on automatic drive is conducted. Through a simple and accurate vehicle kinematical model, it analyzes the state space of system, establishes model-based system state equations, combined with constraint conditions of practice and...
For USV (unmanned surface vessels) cruise trajectory problem, this paper makes the research for two different drive models under the wind and waves disturbances of trajectory tracking control. Firstly, the characteristics of the USV is analyzed, then establishes the full drive and underactuated drive motion models of USV under the wind and waves disturbances environment. Secondly, a series of constraints...
This paper focus on resolving the trajectory tracking problem of two wheeled mobile robot. We begin by presenting the kinematic model of the robot which is the base of the control law than we present a PI controller and a model predictive controller to solve the problem of trajectory tracking. We performed a comparison between the performances of the classical PI controller and the predictive controller...
Tracking an angular position trajectory of a mass attached to the free end of a motor shaft with large torsional flexibility is considered. The dynamical model of this plant is an example of a nonlinear system which does not admit a retarded state representation, but only a so-called neutral one. It is a connection of a nonlinear system without delays, the PM stepper motor, and a linear delay system,...
This paper introduces a Miniature Aerial Vehicle (MAV) which is Autonomous in outdoor environment. Main contributions of this research are both new trajectory tracking and attitude control scheme in real flight mode. This MAV is based on a traditional quadrotor. For stabilization of the quadrotor’s attitude a PID controller is utilized. The proposed controller is designed such that to be able to attenuate...
this research describes an adaptive nonlinear trajectory tracking controller for a vertical take-off and landing flyer called quadrotor. The control objective is to stabilize the fast unstable dynamics of system while performing trajectory tracking maneuver in presence of external disturbances, measurement noises and uncertainty in model parameters. With an appropriate prediction and performing backstepping...
This paper deals with a new parameter estimation method for an ultra-local model of Broïda. The proposed approach is based on the algebraic derivation techniques and the linear system resolution method, in order to estimate the ultra-local model parameters, such that the variable time-delay. The closed-loop control is achieved via an adaptive PI controller to reject the influence of noises and disturbances...
In this paper the trajectory tracking control problem for a certain class of propagation processes modeled as Quasi-Linear Parameter Varying systems is considered. The propagation physical models are generally described by means of PDEs (partial differential equations). However in real world control problems the PDE models are usually converted into ODEs (ordinary differential equations) models adopting...
A trajectory tracking strategy is presented for processes described by a parabolic nonlinear distributed parameter model. A model-based predictive control approach, combined with an internal model control structure and a state estimation method is extended to this kind of process. On-line requirements such as computational time and constraint satisfaction are outlined and discussed. This method is...
In this paper, a new adaptive controller is proposed for ultra-local model based control. The concept is based on the algebraic derivation techniques to estimate the two ultra-local model parameters. A comparison study with the control method of Fliess-Join which is based on some elementary differential algebra is developed. The robustness of the ultra-local model controllers with respect to noises,...
This paper primarily deals with behavior-based control strategy for an autonomous agent to achieve local goal while tracking a desired path/trajectory. The behavior-based control approach addresses multiple control frameworks, which are switched depending on the circumstances, instead of using a uniform control framework. The need to pursue local goals may arise while an autonomous agent e.g., an...
In this paper, a repetitive assembling task is considered for industrial manipulator, where vision-based precise trajectory tracking is necessary. Conventional visual servoing methods suffer from their poor dynamic performance, while the proposed open-plus-closed loop framework solved this problem by iterative learning. System error is defined by the directly measurable homography matrix and feature...
This paper presents two contributions for the path planning for motion, and convergent global trajectory tracking, which assistance to autonomous vehicle. The path planning for motion is processed by two stages: road network detection and the shortest path estimation for vehicle motion. A road network is detected using the road map images based on image-processing techniques such color filter, segmentation...
This paper presents new computationally efficient and easy to tune attitude control of a four rotor helicopter called quadrotor. Short description of quadrotor concept and control framework is given and the segment of inner attitude control of the aircraft is addressed. Proposed fuzzy proportional - differential (PD) control structure utilizes Sugeno fuzzy engine, with simple intuitive set of rules...
Over the last decades, research on the trajectory tracking task in wheeled mobile robots (WMR) has grown steadily. Nowadays, the WMR are present in most of the existing scientific fields, likewise, they have a wide number of applications in society. Therefore, this paper gives a literate review related to the trajectory tracking task in WMR. At the same time, a brief history of robotics, application...
This paper presents a fuzzy logic control approach for trajectory tracking of Stewart platform which is a six degrees of freedom parallel manipulator. In order to have a robust tracking a fuzzy logic controller, convenient for nonlinear complex systems, is developed. The performance of the developed FLC is compared with classical PID controller. The performances of both controllers are measured using...
The trajectory tracking of underactuated water surface robots (or boats, surface vessels, etc.) has been an attractive topic over the past decade, and a lot of controllers are proposed for this challenging problem. However, most of the existing trajectory tracking controllers of the underactuated water surface robots assume the global positions of the robots can be accurately measured. In the working...
The paper deals with an effective approach of the robust controller design, based on the fuzzy logic. We developed algorithms with variable sampling for trajectorytracking. The proposed controller design and sampling algorithms are verified on the case study of the chosen mechatronic system. All numerical and graphical results are obtained in Co-simulation of combination two different modeling systems...
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