Cooperative control for trajectory tracking of robotic fish

Recently, trajectory misalignment of tunnel boring machine (TBM) has become a key research area. Although TBMs have been extensively applied in tunneling, hunting motion remains due to inhomogeneous ground encountered during tunneling, TBM structures and ambiguity in attitude correction mechanism. In this paper, TBM attitude correction and motion are studied, and optimized fuzzy rule is obtained by taking into account various TBM constraints and the universe of fuzzy control; then, cooperative control over cylinders in various sections is proposed to reduce TBM trajectory tracking deviation from designed tunnel axis; moreover, a cascade control system combining outer-loop trajectory tracking and inner-loop pressure control is developed to enable unmanned automatic tunneling of the TBM. The practical application results reveal that the proposed system demonstrated accurate TBM attitude correction, high stability, strong engineering applicability and feasible real-time control.

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Visual Tracking of Multiple Robotic Fish for Cooperative Control

2006 IEEE International Conference on Robotics and Biomimetics ◽

10.1109/robio.2006.340301 ◽

2006 ◽

Cited By ~ 3

Author(s):

Junzhi yu ◽

Yimin Fang ◽

Long Wang ◽

Lizhong Liu

Keyword(s):

Visual Tracking ◽

Cooperative Control ◽

Robotic Fish

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Research on the Cooperative Control Method for Trajectory Tracking of Automatic Guided Vehicle Based on Dynamic Position/Force

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.457-458.1298 ◽

2013 ◽

Vol 457-458 ◽

pp. 1298-1302 ◽

Cited By ~ 1

Author(s):

Xuan Zuo Liu ◽

Qiao Yun Yan ◽

Fei Yun Tang

Keyword(s):

Trajectory Tracking ◽

Cooperative Control ◽

Closed Loop ◽

Control Structure ◽

Sliding Mode ◽

Closed Loop Control ◽

Control Input ◽

External Interference ◽

Loop Control ◽

Automatic Guided Vehicle

AbstractConsidering the influence of the dynamic characteristic of automatic guided vehicle (AGV) on trajectory tracking controlling, double closed loop control structure is proposed to realize the position/force cooperative control. The outer loop controlling uses backstepping to design corresponding position controller for kinematics model of AGV, while the inner control uses the integral sliding mode controlling. Self-adaptive controlling law is used to estimate the uncertain external interference in the driving force controller and stability of AGV trajectories tracking proof is proposed. In order to make the system achieve better control performance and prevent the occurrence of severe wobble, the hyperbolic tangent function in the control law of sliding mode control replaces the sign function to ensure a continuously smooth control input and states of the system. In the Matlab/simulink environment, tracking a given splayed trajectory generated by the S function to verify the double closed loop control structure and the effectiveness of the control algorithm proposed in this paper.

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