Results 211 to 220 of about 66,996 (265)
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On trajectory tracking control of fluid-driven actuators
at - Automatisierungstechnik, 2021AbstractFluid-driven actuators are not only well-established in automation, but also a promising drive technology for collaborative robots. Their inherent compliance due to the compressibility of suitable fluids such as air, as well as their direct drive properties are advantageous safety features for human-machine collaboration.
Kathrin Hoffmann +3 more
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Trajectory tracking control of an underactuated capsubot
Autonomous Robots, 2015Trajectory tracking control of underactuated systems is one of the challenging issues. This paper proposes a two-stage control strategy for the trajectory tracking of a class of underactuated mechanical systems. Two new acceleration profiles for the capsubot motion generation are proposed for the motion control of the capsubot. The optimum selection of
Md. Nazmul Huda, Hongnian Yu
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Trajectory Tracking Control for Actuator Arrays
IEEE Transactions on Control Systems Technology, 2013Actuator arrays are planar arrangements of actuators with two degrees of freedom that cooperatively translate and orient objects for efficient manipulation. This brief describes a trajectory tracking control law for macroscopic actuator arrays and its convergence properties. The control law is designed on the basis of the kinematics of an object on the
Mark Bedillion, William C. Messner
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Controlled collective motion for trajectory tracking
2006 American Control Conference, 2006This paper extends previous work on oscillator models to meet the needs of multiagent applications in which the motion of the collective centroid of the group must be dynamic. Individual agents are modeled as unit speed planar kinematic unicycles. A steering control law is derived for each individual so that the velocity of the collective centroid ...
Daniel J. Klein, Kristi A. Morgansen
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Trajectory tracking control for quadrotor UAV
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017This paper proposed a trajectory tracking guidance that controls the horizontal positions of the quadrotor to track the desired trajectory by forcing the direction of velocity converge to a reference line pointing to the trajectories, and remains the magnitude of the velocities constant at desired value.
Tie-nan Ma, Seng Fat Wong
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Trajectory Tracking Control for a Kinematic Bicycle Model
2020 28th Mediterranean Conference on Control and Automation (MED), 2020This paper deals with the trajectory tracking control problem in the kinematic bicycle model. To avoid possible singular states in the control system for the model under consideration we apply a sigmoid function (hyperbolic tangent) in the feedback loop.
Amit Ailon, Shai A. Arogeti
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Trajectory tracking controller for an underwater hexapod vehicle
OCEANS 2008, 2008This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented.
N, Plamondon, M, Nahon
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Trajectory tracking control of a quadrotor
2015 International Conference on Control Communication & Computing India (ICCC), 2015This paper presents a control algorithm based on back stepping together with PD controller to track the desired trajectory of a quadrotor robot. The main idea here is to split the whole system into four subsystem to design the controller such that each system corresponds to the desired trajectory to be tracked.
Juhi Ajmera, V. Sankaranarayanan
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1998
In this chapter we extend the passivity-based method, developed for regulation in the previous chapter, to solve trajectory tracking problems. The first main modification that we have to make is that for tracking, besides reshaping the potential energy of the EL plant, we must also shape the “kinetic energy” function.
Romeo Ortega +3 more
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In this chapter we extend the passivity-based method, developed for regulation in the previous chapter, to solve trajectory tracking problems. The first main modification that we have to make is that for tracking, besides reshaping the potential energy of the EL plant, we must also shape the “kinetic energy” function.
Romeo Ortega +3 more
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Tracking control for UAV trajectory
Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference, 2014An online UAV collision avoidance trajectory planning algorithm based on Pythagorean Hodograph (PH) curve is presented. To fully use the PH trajectories performance that the curvature of the curve is continuous and precisely known, the backstepping trajectory tracking control is introduced.
Zhang Yi +3 more
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