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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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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 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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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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On the design of gain‐scheduled trajectory tracking controllers
International Journal of Robust and Nonlinear Control, 2002AbstractA new methodology is proposed for the design of trajectory tracking controllers for autonomous vehicles. The design technique builds on gain scheduling control theory. An application is made to the design of a trajectory tracking controller for a prototype autonomous underwater vehicle (AUV).
Silvestre, Carlos +2 more
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Trajectory tracking control for uninhabited air vehicles
2006 International Conference on Computational Inteligence for Modelling Control and Automation and International Conference on Intelligent Agents Web Technologies and International Commerce (CIMCA'06), 2006In this paper a simplified control system framework is presented to solve maneuvering trajectory tracking problem of uninhabited air vehicles. The flight control system is divided into three subsystems including command generation, transformation and allocation.
Haitao Wang, Jinyuan Gao
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Predictive control for trajectory tracking of an electrical wheelchair
2015 4th International Conference on Systems and Control (ICSC), 2015In this work a fixed one step ahead predictive control has been applied to control angular position and linear velocity of an electrical wheelchair. The purpose of such as controller is to assist wheelchair users providing an easier and safer navigation.
Khansa Bdirina +3 more
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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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Lateral trajectory tracking control for autonomous vehicles
2014 European Control Conference (ECC), 2014In this contribution a structure for high level lateral vehicle tracking control is presented. It is based on the two degrees of freedom structure that allows to separately define the command response and disturbance attenuation. The application of the disturbance observer guarantees robust compensation of the disturbances.
Christian Rathgeber +3 more
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