Tracking-error model-based PDC control for mobile robots with acceleration limits

2009 ◽  
Author(s):  
El-Hadi Guechi ◽  
Jimmy Lauber ◽  
Michel Dambrine ◽  
Saso Blazic ◽  
Gregor Klancar
Keyword(s):  
Mobile Robots ◽  
Tracking Error ◽  
Error Model ◽  
Model Based

Tracking Error Modeling of the Theodolite Based on GRNN Method

2011 ◽  
Vol 121-126 ◽  
pp. 4870-4874
Author(s):  
Miao Li ◽  
Hui Bin Gao
Keyword(s):  
Evaluation Method ◽  
Tracking Error ◽  
High Accuracy ◽  
Error Model ◽  
Error Modeling ◽  
General Regression Neural Network ◽  
Engineering Practice ◽  
Tracking Accuracy ◽  
Model Based ◽  
General Regression

To meet the requirement of high tracking accuracy as well as develop more reasonable evaluation method, in this paper, the General Regression Neural Network (GRNN) has been applied to build the tracking error model of the theodolite. First, we analyze the nonlinear factors in the theodolite. Second, we discuss the principle of GRNN, including its structure, the function as well as its priors. Third, we build the tracking error model based on GRNN and verify the model through the different parameters. The result indicated that the network model based on GRNN has high accuracy and good generalization ability. It could instead the real system to a certain extent. The research in this paper has important value to the engineering practice.

scholarly journals Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Shen Xu ◽  
Lulu Chu ◽  
Fei Tong ◽  
Lei Chen
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Switching Control ◽  
Polar Coordinates ◽  
Control Law ◽  
Moving Target ◽  
Nonholonomic Mobile Robots ◽  
Time Switching

In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.

scholarly journals Visual Trajectory-Tracking Model-Based Control for Mobile Robots

10.5772/56757 ◽  
2013 ◽  
Vol 10 (9) ◽  
pp. 323 ◽  
Author(s):  
Andrej Zdešar ◽  
Igor Škrjanc ◽  
Gregor Klančar
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Model Based Control ◽  
Model Based ◽  
Tracking Model

Precise geometric error model based on z-axis motion platform of micro v-groove machine tools

2017 ◽  
Vol 92 (9-12) ◽  
pp. 3219-3224 ◽  
Author(s):  
Huabing Zou ◽  
Yuejiao Ding ◽  
Jing Zhang ◽  
Anhui Cai ◽  
Xiaohong Zhang ◽  
...  
Keyword(s):  
Machine Tools ◽  
Geometric Error ◽  
Error Model ◽  
Motion Platform ◽  
Model Based
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