Controller Design Applied to Planar Parallel Manipulators For Trajectory Tracking Control

2006 ◽  
Author(s):  
L. Ren ◽  
J.K. Mills ◽  
D. Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Parallel Manipulators ◽  
Trajectory Tracking Control ◽  
Planar Parallel Manipulators

scholarly journals Backstepping Based Trajectory Tracking Control of a Four Wheeled Mobile Robot

10.5772/6224 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 38 ◽  
Author(s):  
Umesh Kumar ◽  
Nagarajan Sukavanam
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Kinematic Equation ◽  
Pure Rolling ◽  
Tracking Strategy

For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time–indexed path in the plane consisting of position and orientation. The mobile robot is modeled as a non holonomic system subject to pure rolling, no slip constraints. To facilitate the controller design the kinematic equation can be converted into chained form using some change of co-ordinates. From the kinematic model of the robot a backstepping based tracking controller is derived. Simulation results demonstrate such trajectory tracking strategy for the kinematics indeed gives rise to an effective methodology to follow the desired trajectory asymptotically.

Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test

2018 ◽  
Author(s):  
Yuanyan Chen ◽  
J. Jim Zhu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Nonholonomic Constraints ◽  
Underactuated System ◽  
Model Parameters ◽  
Trajectory Tracking Control ◽  
Scaled Model ◽  
Ground Vehicle ◽  
Trajectory Tracking Controller

A car-like ground vehicle is a nonlinear and underactuated system subject to nonholonomic constraints. Trajectory tracking control of such systems is a challenging problem. To this end, a trajectory tracking controller based on nonlinear kinematics and dynamics model of a ground vehicle by Trajectory Tracking Control (TLC) is presented in our previous work. In this paper, we present hardware validation of TLC controller design with vehicle parameters determination for a Radio Controlled (RC) scaled model vehicle, experimental implementation, and tuning procedure. Hardware testing results are presented to demonstrate the effectiveness of our design. The design can be readily scaled-up to full-size vehicles and adapted to different types of autonomous ground vehicles with only knowledge of the vehicle model parameters.

scholarly journals Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Oualid Doukhi ◽  
Abdur Razzaq Fayjie ◽  
Deok Jin Lee
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Flight Period ◽  
Test Bed ◽  
Trajectory Tracking Control ◽  
Highly Nonlinear ◽  
Self Tuning ◽  
Aerial Vehicle ◽  
The Mathematical Model

The paper presents the mathematical model of a quadrotor unmanned aerial vehicle (UAV) and the design of robust Self-Tuning PID controller based on fuzzy logic, which offers several advantages over certain types of conventional control methods, specifically in dealing with highly nonlinear systems and parameter uncertainty. The proposed controller is applied to the inner and outer loop for heading and position trajectory tracking control to handle the external disturbances caused by the variation in the payload weight during the flight period. The results of the numerical simulation using gazebo physics engine simulator and real-time experiment using AR drone 2.0 test bed demonstrate the effectiveness of this intelligent control strategy which can improve the robustness of the whole system and achieve accurate trajectory tracking control, comparing it with the conventional proportional integral derivative (PID).

scholarly journals Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Chengshun Yang ◽  
Zhong Yang ◽  
Xiaoning Huang ◽  
Shaobin Li ◽  
Qiang Zhang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Sliding Mode Disturbance Observer ◽  
Aerial Vehicle ◽  
Differential Expansion ◽  
Derivatives Of

Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV) is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO) is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND) is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid “differential expansion” in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.

Trajectory Tracking Control Applied to an Electro-Hydraulic Actuator With Uncertain Parameters.

2019 ◽  
Author(s):  
Josiel Gouvêa ◽  
Carlos Alberto Correia ◽  
Alessandro Zachi ◽  
Wallace Moreira Bessa
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Uncertain Parameters ◽  
Hydraulic Actuator ◽  
Trajectory Tracking Control

Trajectory tracking control based on Lyapunov method and terminal sliding mode

2013 ◽  
Vol 32 (11) ◽  
pp. 3243-3246 ◽  
Author(s):  
Yang-ming ZHANG ◽  
Guo-rong LIU ◽  
Dong-bo LIU ◽  
Huan LIU
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Lyapunov Method ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode
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