A composite adaptive tracking controller for dynamically positioned surface vessels with only position measurements

2022 ◽  
Vol 245 ◽  
pp. 110416
Author(s):  
Unal Aktas ◽  
Enver Tatlicioglu ◽  
Erkan Zergeroglu
Keyword(s):  
Adaptive Tracking ◽  
Surface Vessels ◽  
Tracking Controller

Adaptive Tracking Controller for an Alginate Artificial Cell

2021 ◽  
Author(s):  
Gokhan Kararsiz ◽  
Louis William Rogowski ◽  
Xiao Zhang ◽  
Anuruddha Bhattacharjee ◽  
Min Jun Kim
Keyword(s):  
Adaptive Tracking ◽  
Artificial Cell ◽  
Tracking Controller

Energy Comparisons of the Adaptive Tracking Control for a Linear Drive System

2015 ◽  
Vol 764-765 ◽  
pp. 602-606 ◽  
Author(s):  
Kun Yung Chen ◽  
Rong Fong Fung
Keyword(s):  
Tracking Control ◽  
External Disturbance ◽  
Hamiltonian Function ◽  
Electrical Energy ◽  
Drive System ◽  
Nonlinear Friction ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Tracking Controller ◽  
Linear Drive System

In this paper, a mechatronic motor-table system is realized to plan the minimum input electrical energy trajectory (MIEET) based on Hamiltonian function. In this system, the adaptive tracking controller is designed to track the MIEET to overcome the nonlinear friction and external disturbance. Moreover, trapezoidal trajectory (TT) and regulator control are compared with the MIEET by the adaptive tracking controller. Finally, it is concluded that the MIEET based on the adaptive tracking controller can obtain the minimum input electrical energy and robustness performance for the mechatronic motor table system.

A Novel Approach to Model and Implement Planar Trajectory-Tracking Controllers for AUVs/ASVs

2014 ◽  
Vol 1016 ◽  
pp. 686-693
Author(s):  
N. Dong ◽  
N.H. Nam ◽  
K.M. Tuan ◽  
N.V. Hien
Keyword(s):  
Trajectory Tracking ◽  
Autonomous Underwater Vehicles ◽  
Model Driven ◽  
Development Lifecycle ◽  
Novel Approach ◽  
Surface Vessels ◽  
Planar Trajectory ◽  
Tracking Controller ◽  
Trajectory Tracking Controller ◽  
New Applications

Following the Model-Driven Architecture (MDA) approach, we have modeled and implemented a planar trajectory planning and tracking controller designed for Autonomous Underwater Vehicles or Autonomous Surface Vessels (AUVs/ASVs). Our approach covers steps such as the requirement, analysis, design and implementation to model and realize a controller for most standard AUV/ASV platforms. It also allows the designed elements to be customizable and re-usable in the development of new applications of AUV/ASV controllers. The paper describes step-by-step the development lifecycle of planar trajectory-tracking controller for AUVs/ASVs. Based on this approach, a horizontal trajectory-tracking controller of a miniature autonomous submerged vehicle is completely developed and successfully taken on trial trip.

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