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Trajectory tracking control method and experiment of AGV
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC), 2016Aiming at the trajectory tracking control of AGV in aeronautical manufacturing and automated warehouse, a novel trajectory tracking control method was proposed. Firstly, the kinematic model and trajectory tracking control model of AGV were established.
Dongdong Chen 0006 +6 more
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Trajectory Tracking Feedback Control
2016This chapter is dedicated to the trajectory tracking control of a large class of frictionless Lagrangian systems with multiple unilateral constraints, complementarity conditions and impacts: rigid-joint rigid-body systems and flexible-joint rigid-body systems.
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A geometric approach for quadrotor trajectory tracking control
International Journal of Control, 2015This paper investigates the trajectory tracking problem for quadrotor with attitude finite-time convergence via geometric approach. First, a global geometric dynamic description is presented on the special Euclidean group (SE(3)), and the trajectory tracking control is decomposed into two cascaded tracking control loops: the position tracking control ...
Xiao-Ning Shi, Yong-An Zhang, Di Zhou
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On controllability and trajectory tracking of a kinematic vehicle model
Automatica, 2005zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Amit Ailon +2 more
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Trajectory tracking control of an input delayed monocycle
Proceedings of the 2010 American Control Conference, 2010This article describes the design of an observerbased robust linear output feedback controller for the output reference trajectory tracking tasks in an under-actuated, nonlinear, input-delayed system known as the monocycle, or the rolling penny. The unknown, possibly state-dependent, nonlinearities of the input-output description are modeled as ...
Hebertt Sira-Ramírez +2 more
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Nonlinear trajectory tracking control of a quadrotor vehicle
2009 European Control Conference (ECC), 2009This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i ...
Rita Cunha +2 more
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Cooperative control for trajectory tracking of robotic fish
2009 American Control Conference, 2009This paper is concerned with cooperative control for trajectory tracking of multiple biomimetic robotic fish using neural network based sliding mode control method. An experiment system is set up for multiple robotic fish cooperation, in which the information of robotic fish and the target points of the planned trajectory are sent to each robotic fish.
Kexu Zou +5 more
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Adaptive trajectory tracking controller for planar vehicles
2017 25th Mediterranean Conference on Control and Automation (MED), 2017In the paper the problem of trajectory tracking control for planar vehicles is considered. The proposed adaptive control algorithm is realized using the earth-frame representation. The controller is expressed in terms of some generalized velocity components (GVCs) arising from the inertia matrix decomposition.
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A Comparative Trajectory Tracking Controls of a Mobile Robot
2022 19th International Multi-Conference on Systems, Signals & Devices (SSD), 2022Salim Refoufi +2 more
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Trajectory Planning With A* Algorithm and Tracking With Multiple Controllers
Optimal Control Applications and MethodsABSTRACTThis article consists of mathematical modelling of differential drive mobile robot (DDMR), path planning and tracking application via multiple controller usage. Robot kinematic and dynamic models were constructed and simulated in virtual 2D map environment.
Yigit, Sinan, Sezgin, Aziz
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