USV trajectory tracking control system based on ADRC

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.

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Non-Autonomous Wheeled Mobile Robot Trajectory Tracking Control Based on the Navigation via WSN

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.457-458.1089 ◽

2012 ◽

Vol 457-458 ◽

pp. 1089-1095

Author(s):

Da Yong Lu ◽

Zhen Hua Luo ◽

Jian Lu Tian

Keyword(s):

Control System ◽

Trajectory Tracking ◽

Tracking Control ◽

Base Station ◽

Reference Trajectory ◽

Distributed Network ◽

Feedback Channel ◽

Wheeled Mobile Robots ◽

Trajectory Tracking Control ◽

Robot Trajectory

Trajectory tracking control is a major control problem in the application of the wheeled mobile robots (WMRs). However, many of the WMRs are autonomous which are equipped with several kinds of sensor to detect the position and orientation by itself, such as ultrasonic, laser, infrared and visual. This paper studies the implementation for a distributed network feedback control system and the trajectory tracking control algorithm for a non-autonomous WMR. The control system consists of a wireless sensor network (WSN) and a monitoring base station for measurement and feedback, and a non-autonomous WMR as controlled plant. To cope with the distributed and asynchronous measurements and slow response of the feedback channel, the sectional error amplitude limited algorithm is studied and the results show the system can effectively track a reference trajectory.

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Adaptive trajectory tracking control system design for hypersonic vehicles with parametric uncertainty

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410014527251 ◽

2014 ◽

Vol 229 (1) ◽

pp. 119-134 ◽

Cited By ~ 18

Author(s):

Zhen Liu ◽

Xiangmin Tan ◽

Ruyi Yuan ◽

Guoliang Fan ◽

Jianqiang Yi

Keyword(s):

Control System ◽

System Design ◽

Trajectory Tracking ◽

Tracking Control ◽

Parametric Uncertainty ◽

Control System Design ◽

Hypersonic Vehicles ◽

Trajectory Tracking Control

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Implementing Multi-DOF Trajectory Tracking Control System for Robotic Arm Experimental Platform

2018 10th International Conference on Measuring Technology and Mechatronics Automation (ICMTMA) ◽

10.1109/icmtma.2018.00075 ◽

2018 ◽

Cited By ~ 2

Author(s):

Qingsong Ai ◽

Qifan Yang ◽

Min Li ◽

Xiaorong Feng ◽

Wei Meng

Keyword(s):

Control System ◽

Trajectory Tracking ◽

Tracking Control ◽

Robotic Arm ◽

Trajectory Tracking Control ◽

Experimental Platform

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Adaptive Trajectory Tracking Control System of Two-Wheeled Robot

Journal of Physics Conference Series ◽

10.1088/1742-6596/1373/1/012052 ◽

2019 ◽

Vol 1373 ◽

pp. 012052 ◽

Cited By ~ 1

Author(s):

Nur Uddin

Keyword(s):

Control System ◽

Trajectory Tracking ◽

Tracking Control ◽

Trajectory Tracking Control ◽

Wheeled Robot

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The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design

Journal of Mechanisms and Robotics ◽

10.1115/1.4050831 ◽

2021 ◽

pp. 1-23

Author(s):

Stefan Atay ◽

Matthew Bryant ◽

Gregory D. Buckner

Keyword(s):

Control System ◽

Dynamic Model ◽

Dynamic Modeling ◽

Trajectory Tracking ◽

Tracking Control ◽

High Mobility ◽

Theoretical Development ◽

Trajectory Tracking Control ◽

Modeling And Control ◽

And Control

Abstract This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control systems, with experimental validation. The vehicle under consideration may roll along the ground to conserve power and extend endurance but may also fly to provide high mobility and maneuverability when necessary. The vehicle employs a three-axis gimbal system that decouples the rotor orientation from the vehicle's terrestrial rolling motion. A dynamic model of the vehicle's terrestrial motion is derived from first principles. The dynamic model becomes the basis for a nonlinear trajectory tracking control system suited to the architecture of the vehicle. The vehicle is over-actuated while rolling, and the additional degrees of actuation can be used to accomplish auxiliary objectives, such as power optimization and gimbal lock avoidance. Experiments with a hardware vehicle demonstrate the efficacy of the trajectory tracking control system.

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