Results 291 to 300 of about 332,100 (341)

Quadrotor Helicopter Trajectory Tracking Control

AIAA Guidance, Navigation and Control Conference and Exhibit, 2008
The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a eet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform.
Gabriel Hoffmann, Steven Waslander, Claire Tomlin   +2 more
openaire   +1 more source

Trajectory tracking control for underactuated ships

Proceeding of the 11th World Congress on Intelligent Control and Automation, 2014
The paper studies the stability problem of trajectory tracking control for underactuated ships with only two propellers. Using the separation principle, a control law is derived according to the surge force and the yaw momentand and a sufficient condition is obtained to ensure the global asymptotic stability of an underactuated ship. To avoid the model
null Feng Yi-wei, null Feng Ping
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Trajectory tracking control system for ship

IFAC Proceedings Volumes, 2004
Abstract The conventional way-point guidance system has two main operation modes: the course-keeping mode at straight trajectory segments and the course changing mode in the way-points. This paper presents the design of a course and a turning controllers which have high steering performance and are robust due to ship dynamics' variations.
Janusz Pomirski, Leszek Morawski, Andrzej Rak   +2 more
openaire   +1 more source

Trajectory Tracking Control for Actuator Arrays

IEEE Transactions on Control Systems Technology, 2013
Actuator 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 Messner
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Trajectory tracking control

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, Antonio Loría, Per Johan Nicklasson, Hebertt Sira-Ramírez   +3 more
openaire   +1 more source

Tracking Trajectory Using Iterative Learning Control

2011 International Conference on Process Automation, Control and Computing, 2011
In this paper, Iterative Learning Control approach for tracking trajectory is presented. The paper includes a general introduction to ILC and a technical description of the methodology. Iterative learning control (ILC) is a learning technique used to improve the performance of systems that execute the same task multiple times.
P. S. Manoharan, T. Rajkamal, M. Willjuice Iruthayarajan   +2 more
openaire   +1 more source

Trajectory tracking control of a quadrotor

2015 International Conference on Control Communication & Computing India (ICCC), 2015
This 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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Trajectory Tracking Control of Quadrotor UAV

2018 37th Chinese Control Conference (CCC), 2018
In this paper, a trajectory tracking control algorithm based on backstepping and linear active disturbance rejection control (LADRC) is proposed for the under-actuated and strongly coupling characteristics of the quadrotor UAV. The mathematical model of quadrotor UAV is obtained by Newton-Euler formula, and the system is divided into position control ...
Xiaochu Wu, Yunhong Liu
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Flexible Robot Trajectory Tracking Control

2006
Operational problems with space robots relate to several factors, one most importantly being structural flexibility and subsequently significant difficulties with position control. Elastic link vibrations with inherent nonminimum phase response coupled with large rotations create a complex nonlinear dynamic system for control.
Anthony Green, Jurek Z. Sasiadek
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Trajectory tracking control for quadrotor UAV

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017
This 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.
Tienan Ma, Sengfat Wong
openaire   +1 more source