Formation trajectory tracking control of discrete-time multi-AUV in a weak communication environment

2022 ◽  
Vol 245 ◽  
pp. 110495
Zheping Yan ◽  
Chao Zhang ◽  
Weida Tian ◽  
Mingyao Zhang
2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987731
Jingjun Zhang ◽  
Shaobo Zhang ◽  
Ruizhen Gao

This article presents a tracking control approach with obstacle avoidance for a mobile robot. The control law is composed of two parts. The first is a discrete-time model predictive method-based trajectory tracking control law that is derived using an optimal quadratic algorithm. The second part is the obstacle avoidance strategies that switch according to two different designed obstacle avoidance regions. The controllability of the avoidance control law is analyzed. The simulation results validate the effectiveness of the proposed control law considering both trajectory tracking and obstacle avoidance.

2019 ◽  
Vol 9 (13) ◽  
pp. 2625 ◽  
Mengmeng Li ◽  
Qinglin Wang ◽  
Yuan Li ◽  
Zhaoguo Jiang

Dielectric electro-active polymer (DEAP) materials, also called artificial muscle, are a kind of EAP smart materials with extraordinary strains up to 30% at a high driving voltage. However, the asymmetric rate-dependent hysteresis is a barrier for trajectory tracking control of DEAP actuators. To overcome the barrier, in this paper, a Hammerstein model is established for the asymmetric rate-dependent hysteresis of a DEAP actuator first, in which a modified Prandtl-Ishlinskii (MPI) model is used to represent the static hysteresis nonlinear part, and an autoregressive with exogenous inputs (ARX) model is used to represent the linear dynamic part. Applying Levenberg-Marquardt (LM) algorithm identifies the parameters of the Hammerstein model. Then, based on the MPI model, an inverse hysteresis compensator is obtained to compensate the hysteresis behavior. Finally, a compound controller consisting of the hysteresis compensator and a novel discrete-time terminal sliding mode controller (DTSMC) without state observer is proposed to achieve the high-precision trajectory tracking control. Stability analysis of the closed-loop system is verified by using Lyapunov stability theorem. Experimental results based on a DEAP actuator show that the proposed controller has better tracking control performance compared with a conventional discrete-time sliding mode controller (DSMC).

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