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Study on Preview Control Theory for Trajectory Tracking Control
2010 International Conference on Computational Aspects of Social Networks, 2010Trajectory tracking is popularity in industrial procession, such as machining parts control, high automatic control for a roller of shearer cutting in memory mode, etc. In these cases, trajectory tracked was often artificially pre-determined, and essentially belongs to the fields of predictable control.
Xiao-Feng Liu +3 more
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Trajectory Tracking Control of Planar Underactuated Vehicles
IEEE Transactions on Automatic Control, 2017This work presents a novel nonlinear trajectory tracking control framework for general planar models of underactuated vehicles with six states and two control inputs. In this framework, feasible state trajectories are derived through utilization of nonholonomic constraints and a transitional trajectory is introduced that reduces the sixth order system ...
Hashem Ashrafiuon +2 more
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Trajectory Tracking Control of Quadrotor Aerial Vehicle
IFAC Proceedings Volumes, 2013Abstract We address the trajectory tracking control problem of a Quadrotor Aerial Vehicle (QAV) in the presence of the input constraints. To this purpose we propose a passivity-based control strategy to separate the handling constraints. Then, a nonlinear control law is designed by suitably combining the nested saturation technique, barrier Lyapunov ...
Trong-Toan Tran +2 more
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Trajectory Tracking Control Based in Fuzzy Concepts
2018 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), 2018The main goal of this paper is to propose a technique that can transform a simple object into an autonomous object, which is an object that can move autonomously inside an indoor environment. In short, it consists of a location system, an embedded board and a human interface that should allow a vehicle to move through environments with as minimum human
Luiz Henrique Lopes de Almeida +1 more
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Trajectory Planning and Tracking Control of Underactuated AUVs
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2006This paper addresses the combined problem of trajectory planning and tracking control for underactuated AUVs moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the AUV is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the
Filoktimon Repoulias +1 more
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A Bearing-Based Control Law for Trajectory Tracking
2019 American Control Conference (ACC), 2019We consider the problem of tracking a desired trajectory using bearing-only information from stationary landmarks. We propose a control law that combines a gradient descent feedback with a velocity feedforward. These two terms are calculated solely by using the bearings, their time derivatives, and the knowledge of the dynamical model.
John Greenawalt, Roberto Tron
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Trajectory tracking and balance control of an autonomous bikebot
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017We present trajectory tracking and balance control of an autonomous bikebot. The bikebot is a single-track autonomous mobile robot that is designed to study unstable physical human-robot interactions. The controller is built on the property of the external-internal convertible (EIC) structure for the bikebot dynamics.
Pengcheng Wang 0002 +3 more
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Comparison of trajectory tracking controllers for autonomous vehicles
2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), 2017Controlling autonomous vehicles typically has two main components: planning a trajectory and tracking this trajectory using feedback controllers. To benefit from the recent progress in planning algorithms, it is key that the underlying tracking controller is able to follow the planned trajectory as desired.
Davide Calzolari +2 more
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Robust control design for the trajectory tracking of a quadrotor
2018 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2018The paper proposes two different controllers for the inner and outer loop of the quadrotor. The dynamic mathematical model of a quadrotor is derived based on Euler-Lagrange formulation. The outer loop controller design is verified with two controllers.
Kranthi Kumar Deveerasetty +3 more
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A Backstepping Controller of an Autonomous Helicopter for Trajectory Tracking
2015 IEEE International Conference on Systems, Man, and Cybernetics, 2015A back stepping controller is proposed for the trajectory tracking of an autonomous helicopter. The controller possess the capability of active disturbance rejection by using extended state observer to estimate the disturbances, such as wind gust. Simulation results based on the nonlinear helicopter model demonstrate the robustness of the controller.
Zhijun Meng, Xueshou Ping, Xuzhi Chen
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