A Path-Following Control Algorithm for Manufacturing Systems Based Upon the Decomposed Contour Error

1998 ◽  
Vol 14 (1) ◽  
pp. 49-55
Author(s):  
Hsin-Chiang Ho ◽  
Jia-Yush Yen
Keyword(s):  
Control Algorithm ◽  
Manufacturing Systems ◽  
Tracking Error ◽  
Normal Component ◽  
Path Following ◽  
Tangential Component ◽  
Experimental Results ◽  
Contour Error ◽  
Control Problems ◽  
Path Following Control

ABSTRACTWe propose a new path following control algorithm. The algorithm decomposes the trajectory errors into tangential and normal components. The normal component minimizes the tracking error, while the tangential component maintains the desired speed. Experimental results using an X-Y table indicate that the proposed method possesses satisfactory tracking characteristics. It resolves certain previously difficult to control problems.

scholarly journals On path following control of nonholonomic mobile manipulators

2009 ◽  
Vol 19 (4) ◽  
pp. 561-574 ◽  
Author(s):  
Alicja Mazur ◽  
Dawid Szakiel
Keyword(s):  
Control Algorithm ◽  
Dynamic Control ◽  
Path Following ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Control Laws ◽  
Kinematic Control ◽  
Motion Constraints ◽  
Path Following Control ◽  
Cascade Structure

On path following control of nonholonomic mobile manipulatorsThis paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.

scholarly journals Barrier Lyapunov Function-Based Adaptive Control of an Uncertain Hovercraft with Position and Velocity Constraints

2019 ◽  
Vol 2019 ◽  
pp. 1-16 ◽  
Author(s):  
Mingyu Fu ◽  
Taiqi Wang ◽  
Chenglong Wang
Keyword(s):  
Lyapunov Function ◽  
Tracking Error ◽  
Path Following ◽  
External Disturbances ◽  
Barrier Lyapunov Function ◽  
Yaw Rate ◽  
Path Following Control ◽  
Control Scheme ◽  
Velocity Constraints ◽  
Theoretical Analyses

This paper considers the problem of constrained path following control for an underactuated hovercraft subject to parametric uncertainties and external disturbances. A four-degree-of-freedom hovercraft model with unknown curve-fitted coefficients is first rewritten into a parameterized form. By introducing a barrier Lyapunov function into the line-of-sight guidance, the specific transient tracking performance in terms of position error is guaranteed. A novel constrained yaw rate controller is proposed to ensure time-varying yaw rate constraint satisfaction, in which the yaw rate barrier is required to vary with the speed of the hovercraft. Moreover, a command filter is incorporated into the control design to generate the desired virtual controls and its time derivatives. Theoretical analyses show that, under the proposed controller, the position tracking error constraints and the yaw rate constraint can be strictly guaranteed. Finally, numerical simulations illustrate the effectiveness and advantages of the proposed control scheme.

scholarly journals Underactuated USV Path Following Mechanism Based on the Cascade Method

2021 ◽  
Author(s):  
Mingzhen Lin ◽  
Zhiqiang Zhang ◽  
Yandong Pang ◽  
Hongsheng Lin ◽  
Qing Ji
Keyword(s):  
Tracking Error ◽  
Path Following ◽  
Ocean Current ◽  
Control Law ◽  
Guidance Law ◽  
Path Following Control ◽  
Heading Control ◽  
Velocity Constraints ◽  
The Stability ◽  
Rudder Angle

Abstract The path following control under disturbance was studied for an underactuated unmanned surface vehicle (USV) subject to the rudder angle and velocity constraints. For this reason, a variable look-ahead integral line-of-sight (LOS) guidance law was designed on the basis of the disturbance estimation and compensation, and a cascade path following control system was created following the heading control law based on the model prediction. Firstly, the guidance law was designed using the USV three-degree-of-freedom (DOF) motion model and the LOS method, while the tracking error state was introduced to design the real-time estimation of disturbance observer and compensate for the influence of ocean current. Moreover, the stability of the system was analyzed. Secondly, sufficient attention was paid to the rudder angle and velocity constraints and the influence of system delay and other factors in the process of path following when the heading control law was designed with the USV motion response model and the model predictive control (MPC). The moving horizon optimization strategy was adopted to achieve better dynamic performance, effectively overcome the influence of model and environmental uncertainties, and further prove the stability of the control law. Thirdly, a simulation experiment was carried out to verify the effectiveness and advancement of the proposed algorithm. Fourthly, the “Sturgeon 03” USV was used in the lake test of the proposed control algorithm to prove its feasibility in the engineering practices.

An MPC-Based Path-Following Control Algorithm of the Road Train

2021 ◽  
Author(s):  
Gulshat Galimova ◽  
Vasiliy Volkov ◽  
Dmitriy Demyanov
Keyword(s):  
Control Algorithm ◽  
Path Following ◽  
The Road ◽  
Path Following Control

Path Following Control of Tractor-trailers with Off-axle Hitching

2010 ◽  
Vol 36 (9) ◽  
pp. 1272-1278 ◽  
Author(s):  
Huo-Feng ZHOU ◽  
Bao-Li MA ◽  
Li-Hui SONG ◽  
Fang-Fang ZHANG
Keyword(s):  
Path Following ◽  
Path Following Control
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