Trajectory Tracking Control for a Nano Quadcopter Employing Stochastically Optimal PID Control

2021 ◽  
Author(s):  
N. Murmu ◽  
K. D. Sharma
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
Optimal Pid Control

Theoretical Analysis and Experimental Study on Automatic Trajectory Tracking Control of a Shield Tunneling Machine under Pressure Regulation Working Mode

2011 ◽  
Vol 317-319 ◽  
pp. 1444-1451
Author(s):  
Hai Bo Xie ◽  
Xiao Ming Duan ◽  
Hua Yong Yang ◽  
Zhi Bin Liu
Keyword(s):  
Control System ◽  
Working Conditions ◽  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Shield Tunneling ◽  
Trajectory Tracking Control ◽  
Variable Gain ◽  
Thrust System ◽  
Tunneling Machine

Hydraulic thrust system is a critical part of shield tunneling machine. Automatic trajectory tracking control is a significant task of thrust system during tunnel excavation. In this article, plane mechanical structure diagram of the thrust system and path planning method are illustrated at first. An integrated control system is proposed to achieve the automatic control of the thrust trajectory. The control system consists of one trajectory planning controller for both cylinders and an individual cylinder controller for each of hydraulic cylinders. Trajectory planning controller is used to generate respective displacement signals of double-cylinder in every thrust stroke and each of cylinder controllers is used to realize the precise control of the given thrust trajectory. Variable-gain PID control strategy applied to achieve the precise tracking control of thrust trajectory under several typical working conditions are done at last. The experimental results demonstrate that variable-gain PID control have good performances with short response time and small overshoot regardless of changes of working conditions.

Trajectory Tracking Control of Mobile Robot Based on Self-Adaptive PID Combined with Preview and Fuzzy Logic

2012 ◽  
Vol 590 ◽  
pp. 268-271 ◽  
Author(s):  
Da Lei Li ◽  
Zhan Shu He ◽  
Yue Feng Yin
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Tracking Control ◽  
Adaptive Pid Control ◽  
Self Adaptive

A new method for controlling the steering and trajectory of the electric mobile robot is proposed. In order to control the robot’s position and heading, the path error and the heading error of the robot are taken into the control closed loop. On the basis of the self-adaptive PID control method combined with preview theory and fuzzy logic, a trajectory tracking control system is designed. Finally, experiments and simulation are conducted to test the control system. Both experimental and simulation results show that the mobile robot can approach the target trajectory quickly and then move along it, which confirm the validity and the efficiency of the trajectory tracking control system.

scholarly journals Research on AGV trajectory tracking control based on double closed-loop and PID control

2018 ◽  
Vol 1074 ◽  
pp. 012136
Author(s):  
Huaqiang Zhang ◽  
Dandan Wu ◽  
Tong Yao
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Closed Loop ◽  
Trajectory Tracking Control

scholarly journals Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm

2018 ◽  
Author(s):  
Mohammad Mehdi Farzaneh ◽  
Alireza Tavakolpour-Saleh
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Control Method ◽  
Learning Algorithm ◽  
Optimal Algorithm ◽  
Adaptive Method ◽  
Iterative Learning ◽  
Trajectory Tracking Control ◽  
Control Loops

This paper presents a new adaptive and optimal algorithm for the trajectory tracking control of a quadrotor using iterative learning algorithm (ILA) and enumerative learning algorithm. Ordinarily the ILA, as an adaptive method, can perform well with PID control to improve the controller’s performance for a nonlinear system. Quadrotors are considered as non-linear and unstable systems which the use of an adaptive and optimal controller can increase its stability and decrease error level. In this method, a PID controller is proposed for the outer and inner control loops of a quadrotor and the ILA is used to adapt PID control gains. Subsequently, an enumerative learning algorithm is used to optimize the learning rates of the ILA. For this purpose, at first, the dynamic model of the quadrotor is acquired. After that, the structure of the inner and outer control loops is defined. In the end, the simulation results for the trajectory tracking control of a quadrotor are demonstrated. Through simulation, it is concluded that as time increases, the performance of the suggested control method in trajectory tracking control becomes better and better and error signals convergence to zero.

Trajectory Tracking Control Applied to an Electro-Hydraulic Actuator With Uncertain Parameters.

2019 ◽  
Author(s):  
Josiel Gouvêa ◽  
Carlos Alberto Correia ◽  
Alessandro Zachi ◽  
Wallace Moreira Bessa
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Uncertain Parameters ◽  
Hydraulic Actuator ◽  
Trajectory Tracking Control

Trajectory tracking control based on Lyapunov method and terminal sliding mode

2013 ◽  
Vol 32 (11) ◽  
pp. 3243-3246 ◽  
Author(s):  
Yang-ming ZHANG ◽  
Guo-rong LIU ◽  
Dong-bo LIU ◽  
Huan LIU
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Lyapunov Method ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode
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