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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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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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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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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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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 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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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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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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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 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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