Results 131 to 140 of about 74,104 (165)

Spatial integration for a nonlinear path tracking control law

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002
A nonlinear spatial path tracking control law, called the /spl epsi/-controller (C/sub /spl epsi//), was developed for autonomous ground vehicles (AGVs) such as the USU T-series and ODIS (omni-directional inspection system) wheeled mobile robots (WMRs).
Morgan E. Davidson, Vikas Bahl, Kevin L. Moore 0001   +2 more
openaire   +1 more source

Path tracking control of vehicles based on Lyapunov approach

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002
This paper studies the controller design for automatic steering of vehicles to track the desired path. The desired path is a general curved road. The nonlinear model with coupled inputs is considered. A suitable transformation is applied to decouple the inputs.
J. R. Zhang, S. J. Xu, A. Rachid
openaire   +1 more source

Robust Control Design for Quadrotor Trajectory Path Tracking

2019 8th International Conference on Systems and Control (ICSC), 2019
This paper deals with the tracking control problem of a quadrotor system in presence of uncertain system parameter due to unknown payload mass. To compensate for this disturbance, an integral backstepping controller is developed for this nonlinear system.
El Ayachi Chater, Halima Housny, Hassan El Fadil   +2 more
openaire   +1 more source

Sliding mode controller for automatic path tracking of vehicles

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002
This paper studies the automatic path tracking control of vehicles. The nonlinear vehicle model with the coupled inputs is considered. A nonlinear transformation is used to deal with the system, while a sliding mode controller is proposed such that the tracking error converges to the prescript equilibrium position.
J. R. Zhang, S. J. Xu, A. Rachid
openaire   +1 more source

Path Tracking Control of a Motorcycle Based on System Identification

IEEE Transactions on Vehicular Technology, 2011
This study investigates the roll angle tracking and path tracking controls of a motorcycle. For the control design, a required linear model is obtained from the system identification method. The roll angle is controlled at a specific speed via a simple PID controller to generate input-output data, including steering torque, as well as roll and steering
Trung-Kien Dao, Chih-Keng Chen
openaire   +1 more source

Design of path planning and tracking control for a UGV

Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence, 2022
Lixi Tang, Zhengjie Wang, Hongbao Du
openaire   +1 more source

Adaptive Tracking Controller Based on the PID for Mobile Robot Path Tracking

2013
In this paper, we present a simple and effective way of implementing an adaptive tracking controller based on the PID for mobile robot trajectory tracking. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID
Hyunjin Chang, TaeSeok Jin
openaire   +1 more source

Path tracking control of trailer-like mobile robot

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, 2002
The authors design a path tracking controller for a trailer-like mobile robot which has the following properties: (1) the stability of the control can be evaluated analytically; (2) the trailer-like mobile robot tracks the desired path even when it moves backward; and (3) the control varies according to the environment and/or the velocity of the robot ...
Mitsuji Sampei, Takeshi Tamura, Takeshi Itoh, Matsuroh Nakamichi   +3 more
openaire   +1 more source

Robust path tracking control for quadrotors with experimental validation

International Journal of Modelling, Identification and Control, 2018
In this paper, we consider the autonomous path tracking control problem of quadrotors with the presence of external disturbances and model parameter uncertainties change. A robust controller is derived and tested in simulation and practically on an AscTec Hummingbird quadrotor via H∞ optimal design approach.
Wesam Jasim, Dongbing Gu
openaire   +1 more source

Control of the Nonstationary Motion of a Hopping Machine (Path Tracking)

International Applied Mechanics, 2003
The paper deals with a problem on the control of the nonstationary motion of a hopping apparatus. It is shown that similarly to the case of a walking apparatus the problem can be reduced to the construction of a periodic solution to the discrete Riccati equation. A model of a hopping apparatus from [\textit{V. B. Larin}, J. Franklin Inst. 335B, No.
openaire   +2 more sources