An Adaptive Tracking Control Method for Braking Phase of Lunar Soft Landing

2020 ◽  
Author(s):  
Yu HAN ◽  
Wei FAN ◽  
Hao CHENG ◽  
Bo Zheng ◽  
Xianliang ZHANG
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Soft Landing ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Braking Phase

An adaptive tracking control method for the all-wheel-driving and active-steering articulated vehicle with n-units

2021 ◽  
pp. 095440702110506
Author(s):  
Dehua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yao Cheng
Keyword(s):  
Control System ◽  
Simulation Model ◽  
Tracking Control ◽  
Control Method ◽  
Small Data ◽  
Control Performance ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Target Trajectory ◽  
Active Steering

To achieve the running control of the all-wheel-driving and active-steering articulated vehicles (AWDASAVs) with n-units, an adaptive tracking control method is proposed in this paper, which includes a real-time target trajectory generation and an adaptive tracking control system. Firstly, the AWDASAV kinematics model is derived, and then the front-axle trace as the target trajectory is computed for all rear-axle steering by using data compressing and filtering, coordinate transformation, and local spline differences, which has small data storage and high computational efficiency and makes it easier to use in AWDASAV. Secondly, an adaptive tracking control system composed of an adaptive active steering controller and a differential distribution controller is designed to achieve accurate trajectory tracking and coordinated movement for AWDASAV. Finally, the AWDASAV simulation model with five-units was built in ADAMS by code development for cross-validation simulation, and the simulations with two cases at various speeds are carried out to verify the simulation model and control method. To further investigate the proposed method, the influence of three parameters on the tracking control performance and comparison with different control methods are carried out. The results exhibit excellent tracking control performance.

scholarly journals Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode

2016 ◽  
Vol 2016 ◽  
pp. 1-11
Author(s):  
Chi Nguyen Van
Keyword(s):  
Dynamical Systems ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Uncertain Parameters ◽  
Transient Time ◽  
Vertical Movements ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking

This paper addresses the problem of adaptive tracking control for uncertain fully actuated dynamical systems with additive disturbance (FDSA) based on the sliding mode. We use the adaptive mechanism to adjust the uncertain parameters in sliding mode control law which can be switched to two modes depending on the sliding surface. By choosing appropriately the parameters in control law, the desired transient time can be obtained without effects of uncertain parameters and additive disturbances. The chattering phenomenon can be minimized by a chosen constant. This control method is applied to the angles tracking control of the twin rotor multi-input multi-output system (TRMS) which have nonlinear characteristics, the input torque disturbances and the coupling between the horizontal and vertical movements. The simulation and experimental results are presented that validate the proposed solution.

scholarly journals Adaptive Tracking Control for the Piezoelectric Actuated Stage Using the Krasnosel’skii-Pokrovskii Operator

Micromachines ◽  
2020 ◽  
Vol 11 (5) ◽  
pp. 537 ◽  
Author(s):  
Rui Xu ◽  
Dapeng Tian ◽  
Zhongshi Wang
Keyword(s):  
Linear Equation ◽  
Tracking Control ◽  
Control Method ◽  
Second Order ◽  
Unknown Parameters ◽  
Order Linear ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Hysteresis Nonlinearity ◽  
Gradient Descent Algorithm

In this paper, a discrete second order linear equation with the Krasnosel’skii-Pokrovskii (KP) operator is used to describe the piezoelectric actuated stage. The weights of the KP operators are identified by the gradient descent algorithm. To suppress the hysteresis nonlinearity of the piezoelectric actuated stage, this paper proposes an adaptive tracking control with the hysteresis decomposition on the designed error surface. The proposed adaptive tracking controller dispenses with any form of the feed-forward hysteresis compensation and the unknown parameters of the discrete second order linear equation are adaptively adjusted. Some simulations are implemented to verify the effectiveness of the KP operators, then a series of modeling and control experiments are carried out on the piezoelectric actuated stages experimental systems. The comparative experimental results verify the feasibility of the KP operators modeling method and the adaptive tracking control method.

Trajectory Tracking Control of Hypersonic Reentry Vehicle Based on Adaptive Fuzzy System

2012 ◽  
Vol 236-237 ◽  
pp. 378-384
Author(s):  
Bo Yang ◽  
Yuan Chao Wang
Keyword(s):  
Fuzzy Control ◽  
Trajectory Tracking ◽  
Fuzzy System ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Tracking Control ◽  
Reentry Vehicle ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Fuzzy Adaptive

Considering inaccurate model and simplified calculation problems of the hypersonic reentry vehicle, this paper presents an adaptive fuzzy control system of the trajectory tracking control method. Firstly we introduced the principle of fuzzy system, then used fuzzy control theory to approximate the second-order drag acceleration model and got drag model by fuzzy identification, finally designed the adaptive controller. The simulation results show that the fuzzy adaptive tracking control method don’t depend on the dynamic model, but only rely on drag of the vehicle suffered, it can be measured directly or obtained by the aerodynamic model of the flight, the can generate tracking guidance control law, and the fuzzy adaptive tracking control method enables hypersonic vehicle to track the drag reference trajectory, realizes safe reentry and the terminal states can meet the requirements of the terminal constraints with high precision.

Hybrid adaptive tracking control method for mobile manipulator robot based on Proportional–Integral–Derivative technique

2021 ◽  
pp. 095440622110149
Author(s):  
Thanglong Mai
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Control Method ◽  
Fuzzy Neural Networks ◽  
Mobile Manipulator ◽  
Proportional Integral Derivative ◽  
Adaptive Tracking Control ◽  
Proportional Integral ◽  
Adaptive Tracking ◽  
Manipulator Robot

In this research, an adaptive tracking control method for the nonholonomic robot system is addressed based on the hybrid Proportional–Integral–Derivative (PID) technique. The proposed hybrid PID scheme first applies the merits of the traditional PID method, with the online self-learning capability for the PID – gains, to force tracking errors to zero in the presence of uncertainties. Then, in order to improve the tracking performance, an adaptive Fuzzy Neural Networks (FNN) approximator and an adaptive robust controller type-compensator are utilized to relax the uncertainties problems of the robot control system. Moreover, the nonholonomic constraint force stability of the mobile manipulator robot is also considered by an adaptive control scheme. The design of online updating laws for the proposed controllers and FNN approximator are designed by applying the Lyapunov stability theorem. Thus, besides the improvement for tracking control performance, the stability of the proposed control system is also maintained. The effectiveness, robustness and adaptability of the proposed control strategy are verified by comparative numerical simulation results.

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