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On tracking control of mobile manipulators
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002This paper studies the tracking control problem of mobile manipulators with consideration of the interaction between the mobile platform and the manipulator. A global tracking controller is proposed based on the dynamics of the defined tracking error and the extended Barbalat's lemma.
Wenjie Dong, Yangsheng Xu, Qi Wang
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Decentralized overlapping tracking control
International Journal of General Systems, 2014In this paper, a new methodology for decentralized overlapping tracking control of complex or large-scale systems is proposed. The methodology is demonstrated in the case of multiple systems moving in a plane. Starting from the given information structure constraints, the expansion/contraction paradigm based on the restriction conditions is applied ...
Srdjan S. Stankovic +2 more
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The TRACK-Technion robot and controller kit
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1993SUMMARYA modular hierarchical model for controlling robots is presented. This model is targeted mainly for research and development; it enables researchers to concentrate on a certain specific task of robotics, while using existing building blocks for the rest of their applications.
David Bar-On, Shaul Gutman, Amos Israeli
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Interpolating Control Based Trajectory Tracking
2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2020The paper is dealing with a modification of Interpolating Control (IC) for the employment in trajectory tracking problem with inherent constraints. First, the Optimal Control Problem (OCP) with reference trajectory tracking is described. The OCP is hard to solve analytically, thus, two feasible approaches will be presented.
Zdenek Boucek, Miroslav Flídr
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2006
Many Ubiquitous Computing applications require tags and sensors that track the daily activates of people and things. For example, tags might be placed on objects to allow a system to remind people of the object’s location. In another application, caretakers of the elderly may wish to monitor the daily activities of those under their care, in order to ...
Denis Bohm +4 more
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Many Ubiquitous Computing applications require tags and sensors that track the daily activates of people and things. For example, tags might be placed on objects to allow a system to remind people of the object’s location. In another application, caretakers of the elderly may wish to monitor the daily activities of those under their care, in order to ...
Denis Bohm +4 more
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A neural controller for the tracking control of flexible arms
IEEE International Conference on Neural Networks, 2002A neural controller is proposed for the tracking control of flexible arms. A significant property of this proposed controller is that neither the model information nor the state of the flexible arm is required. The desired feedforward for the tracking performance is learned online based on the output of interest, and the feedback compensation of ...
W. Cheng, J. T. Wen
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Tracking Control of Networked and Quantized Control Systems
2018 IEEE Conference on Decision and Control (CDC), 2018This paper studies the tracking control problem of nonlinear networked and quantized control systems. The desired trajectory is generated by the reference system. Due to the reference system and the network, the errors induced by the network are not attenuated and affect the convergence of the tracking error.
Wei Ren 0004, Junlin Xiong
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Finite Horizon Tracking Control of Boolean Control Networks
IEEE Transactions on Automatic Control, 2016zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Zhihua Zhang 0001 +2 more
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Nonlinear Tracking Control for Satellite Formations
Journal of Guidance, Control, and Dynamics, 2002A tracking control law using a sliding mode framework is derived to control a satellite formation. Hill's relative motion equations are used to model the follower satellite's motion relative to the leader. To minimize fuel required to maintain the formation, each satellite is constrained to reside near a natural orbit.
Hsi-Han Yeh, Eric Nelson, Andy Sparks
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Learning tracking control with forward models
2012 IEEE International Conference on Robotics and Automation, 2012Performing task-space tracking control on redundant robot manipulators is a difficult problem. When the physical model of the robot is too complex or not available, standard methods fail and machine learning algorithms can have advantages. We propose an adaptive learning algorithm for tracking control of underactuated or non-rigid robots where the ...
Botond Bocsi +3 more
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