T-shaped infrared sensor design of the robot and complex trajectory tracking method

2009 ◽  
Author(s):  
Wang Yue ◽  
Jin Xin ◽  
Li Qi-an ◽  
Li Ping
Keyword(s):  
Trajectory Tracking ◽  
Sensor Design ◽  
Infrared Sensor ◽  
Tracking Method ◽  
Complex Trajectory

scholarly journals A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Yi Zhu ◽  
Xin Chen ◽  
Chuntao Li
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Elliptic Cylinder ◽  
Dynamic Equations ◽  
Moving Frame ◽  
Moving Frames ◽  
Tracking Method ◽  
Tracking Process

The problem of UAV trajectory tracking is a difficult issue for scholars and engineers, especially when the target curve is a complex curve in the three-dimensional space. In this paper, the coordinate frames during the tracking process are transformed to improve the tracking result. Firstly, the basic concepts of the moving frame are given. Secondly the transfer principles of various moving frames are formulated and the Bishop frame is selected as a final choice for its flexibility. Thirdly, the detailed dynamic equations of the moving frame tracking method are formulated. In simulation, a moving frame of an elliptic cylinder helix is formulated precisely. Then, the devised tracking method on the basis of the dynamic equations is tested in a complete flight control system with 6 DOF nonlinear equations of the UAV. The simulation result shows a satisfactory trajectory tracking performance so that the effectiveness and efficiency of the devised tracking method is proved.

Trajectory Tracking Method Based on Feedback Control in the Virtual Domain

2014 ◽  
Vol 556-562 ◽  
pp. 3246-3250
Author(s):  
Ji Guang Zhao ◽  
Liang Yan ◽  
Yuan Li ◽  
Guo Yu Bai
Keyword(s):  
Feedback Control ◽  
Real Time ◽  
Trajectory Tracking ◽  
Algebraic Equations ◽  
Angle Error ◽  
Tracking Method ◽  
Miss Distance ◽  
Virtual Domain ◽  
Yaw Angle ◽  
Real Time Information

A trajectory tracking method based on feedback control in the virtual domain is proposed for the algorithm of online real-time trajectory planning. The method using the way that polynomials approximate states and differential equations convert into algebraic equations. Time domain is converted into virtual domain by introducing the virtual path. Moreover, using the feedback correction tracks fixed trajectory exactly by real-time information. In the background of intercepting of ballistic missiles, simulation verification is carried out on the condition of initial minor disturbances. The simulation results demonstrate that the miss distance, pitch angle error and yaw angle error can meet the requirements.

scholarly journals Trajectory tracking method based on the circulation of feasible path planning

PLoS ONE ◽  
2021 ◽  
Vol 16 (6) ◽  
pp. e0252542
Author(s):  
Yi Yu ◽  
Peng Han
Keyword(s):  
Path Planning ◽  
Trajectory Tracking ◽  
Control Method ◽  
Tracking Error ◽  
Unmanned Vehicles ◽  
Path Generation ◽  
Trajectory Tracking Control ◽  
Core System ◽  
Tracking Method ◽  
Feasible Path

The control method is the central point of the unmanned vehicles. As the core system to guarantee the properties of self-decision and trajectory tracking of the unmanned vehicles, a new kind of trajectory tracking method based on the circulation of feasible path planning for the unmanned vehicles are proposed in this article which considered the dynamics and kinematics characteristics of vehicles. The multi-trace-points cooperative trajectory tracking control strategy on the basis of the circulation of feasible path generation method is proposed and the lateral controller is designed for trajectory tracking. The process of feasible path generation is conducted once the tracking error exceeded. A simulation platform of the trajectory tracking simulation of unmanned vehicles is built considering the mechanical properties of system elements and the mechanical characteristics. Finally, the proposed trajectory tracking method is verified. The tracking error would be reduced to make sure the vehicles move along the pre-set virtual track.

Sign in / Sign up

Export Citation Format

Share Document