Results 301 to 310 of about 332,100 (341)

Controlled collective motion for trajectory tracking

2006 American Control Conference, 2006
This paper extends previous work on oscillator models to meet the needs of multiagent applications in which the motion of the collective centroid of the group must be dynamic. Individual agents are modeled as unit speed planar kinematic unicycles. A steering control law is derived for each individual so that the velocity of the collective centroid ...
D.J. Klein, K.A. Morgansen
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Adaptive control through optimized trajectory tracking

IFAC Proceedings Volumes, 2004
Abstract New methods are proposed in the paper to design adaptive control for discrete time lumped parameter systems. Model reference adaptive control is treated as adaptive tracking control on infinite horizon. The self-tuning and gain scheduling adaptive control problem is regarded as iterative parameter optimization problem in the closed and open ...
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Trajectory-Tracking Control of Underwater Vehicles

Solid State Phenomena, 2013
The main aim of paper is to introduce the results of research concentrated on controlling remotely operated underwater vehicle which task is trajectory tracking with high accuracy. Firstly the problem of trajectory tracking and its formal and mathematical description were introduced.
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PD-Based Trajectory Tracking Control for Robot Manipulators

Journal of Dynamic Systems, Measurement, and Control, 1993
In this paper, it is proved that a trajectory tracking system of a manipulator is globally stable if the system is controlled under the decentralized PD control law plus a sliding term with a constant coefficient, and the norm of the coefficient matrix of its differential term is no less than that of the centripetal and Coriolis’ force term ...
Cao, Bailin, Chen, Huitang
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Trajectory Tracking Feedback Control

2016
This 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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Finite‐time trajectory tracking control for entry guidance

International Journal of Robust and Nonlinear Control, 2018
SummaryIn this paper, the trajectory tracking guidance problem is investigated for entry vehicle in the presence of uncertainty. First, a robust nonsingular fast terminal sliding mode control law is designed to guarantee the finite‐time tracking performance under uncertainty.
Ganghui Shen, Yuanqing Xia, Jinhui Zhang, Bing Cui   +3 more
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Nonlinear control through optimized trajectory tracking

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002
New methods are introduced in this paper for nonlinear discrete time control systems design. The methods are based on optimization and they use either approximate linearization or the original nonlinear equations to obtain the solution in a unified manner. The finite horizon optimum control problem is solved through a sequence of two-stage optimization
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Trajectory tracking control for industrial robots

Journal of Mechanical Working Technology, 1989
Abstract Trajectory tracking control is used to effect desired trajectories of a device. In order to more precisely track specified trajectories, or be able to follow more general trajectories, many tracking control algorithms have been proposed. A representative cross-section of these schemes, and their implementations are discussed.
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Learning control algorithms for tracking "slowly" varying trajectories

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 1997
To date, most of the available results in learning control have been utilized in applications where a robot is required to execute the same motion over and over again, with a certain periodicity. This is due to the requirement that all learning algorithms assume that a desired output is given a priori over the time duration t in [0,T]. For applications
Saab, Samer S., Vogt, William G., Mickle, Marlin H.   +2 more
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Robust Trajectory Tracking Control of Elastic Robot Manipulators

Journal of Dynamic Systems, Measurement, and Control, 1997
In this paper, a robust control strategy is proposed for the trajectory tracking control of multi-link elastic robot manipulators. The robustness against both of the structured uncertainty caused by the nonlinear mechanical structure and the unstructured one caused by elasticity of links is taken into account in designing controllers.
Morita, Yoshifumi, Ukai, Hiroyuki, Kando, Hisashi   +2 more
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