A dynamic trajectory control algorithm for improving the communication throughput and delay in UAV-aided networks

We report an excavator driven by three links – an arm, a boom, and a swing – as representative of construction robots. Each link consists of an electrohydraulic servosystem. A problem with such excavators is the high degree of skill and comparatively long-term training required to operate it. To solve this problem, we equip the excavator with a trajectory control algorithm to control the front end. Note that the excavator's servosystems are influenced by disturbances and by nonlinear features such as asymmetrical piston geometry, initial shifts in the neural positions of servovalves and variations in moving parts inertia. For trajectory control, we apply sliding mode control using a disturbance observer in servosystems. The dynamic performance of this trajectory control is studied in experiments and results confirmed the validity of the applied method.

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Design of the Embedded Control System of Laser Engraving Machine

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.511-512.709 ◽

2014 ◽

Vol 511-512 ◽

pp. 709-713

Author(s):

Xiao Tian Wang ◽

Zhi Jia Yang ◽

Yan Lv ◽

Zi Wang ◽

Peng Xiao

Keyword(s):

Control System ◽

Control Algorithm ◽

Interpolation Method ◽

Linear Acceleration ◽

Trajectory Control ◽

Stepping Motor ◽

Motor Speed ◽

Laser Engraving ◽

Precise Control ◽

Laser Head

The control system of laser engraving machine based on ARM processor realize the precise control of the two-dimensional stepping motor and the laser head. This article focuses on the proposed stepping motor speed and trajectory control algorithm, and meanwhile, the speed control adopt linear acceleration and deceleration control algorithm; Trajectory control, based on the traditional point by point comparison arc interpolation method, puts forward the improved algorithm which can effectively improve the interpolation speed and interpolation accuracy. The experimental results show that the method can improve the machining precision and machining efficiency of laser engraving machine, and also can realize the high precision carving.

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Deep Reinforcement Learning Based Dynamic Trajectory Control for UAV-assisted Mobile Edge Computing

IEEE Transactions on Mobile Computing ◽

10.1109/tmc.2021.3059691 ◽

2021 ◽

pp. 1-1

Author(s):

Liang Wang ◽

Kezhi Wang ◽

Cunhua Pan ◽

Wei Xu ◽

N Aslam ◽

...

Keyword(s):

Reinforcement Learning ◽

Trajectory Control ◽

Edge Computing ◽

Mobile Edge Computing ◽

Dynamic Trajectory

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NONLINEAR ROLL CONTROL ALGORITHM FOR THE DERIVATION OF AN AIRCRAFT LEAVING ON A PRESCRIBED WAY LINE

the System analysis and logistics ◽

10.31799/2077-5687-2021-2-3-8 ◽

2021 ◽

Vol 2 (28) ◽

pp. 3-8

Author(s):

V. G. Bulasova ◽

◽

V. K. Ponomarev ◽

Keyword(s):

Key Words ◽

Motion Control ◽

Control Algorithm ◽

Center Of Mass ◽

Trajectory Control ◽

Lateral Deviation ◽

Roll Control ◽

Track Line ◽

Control Trajectory

The conclusion of the aircraft to a given track line is considered. The possibility of using for this purpose a nonlinear roll control algorithm with functions of functions is analyzed. The results of modeling of the guidance process are given, showing that the investigated nonlinear algorithm ensures the withdrawal of an aircraft from any points in space on a given path for any initial course in a calm atmosphere and in the presence of wind. Key words: line of a given path, roll control, trajectory control algorithm, motion control of the center of mass, lateral deviation.

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