Backstepping-Based Hybrid Target Tracking Control for a Carangiform Robotic Fish

2013 ◽  
Author(s):  
Songlin Chen ◽  
Jianxun Wang ◽  
Xiaobo Tan
Keyword(s):  
Target Tracking ◽  
Tracking Control ◽  
Open Loop ◽  
Rigid Body Dynamics ◽  
Robotic Fish ◽  
Target Point ◽  
Hybrid Controller ◽  
Control Scheme ◽  
Body Theory ◽  
Hybrid Target

In this paper we apply backstepping technique to develop a novel hybrid target-tracking control scheme for a carangiform robotic fish, based on a dynamic model that combines rigid-body dynamics with Lighthill’s large-amplitude elongated-body theory. This hybrid controller consists of an open-loop turning controller and a closed-loop approaching controller. A hysteretic switching strategy based on the orientation error is designed. Using Lyapunov analysis, we show that the trajectory of the robotic fish will converge to the target point. The effectiveness of the proposed control strategy is demonstrated through both simulations and experiments.

scholarly journals Positioning Control and Operational Evaluation of A One Mass Rotary System using NCTF Controller

2018 ◽  
Vol 7 (3.28) ◽  
pp. 111
Author(s):  
Rozilawati Mohd Nor ◽  
Sahazati Md Rozali ◽  
Chong Shin Horng
Keyword(s):  
Tracking Control ◽  
Open Loop ◽  
Object Motion ◽  
Motion Error ◽  
Positioning Control ◽  
Proportional Integral ◽  
Control Scheme ◽  
Controller Performance ◽  
Motion Performance ◽  
Trajectory Following

A practical control scheme is proposed for a one mass rotary system. It was written to demonstrate the controller performance towards positioning and tracking control. For this system, the Nominal Characteristic Trajectory Following (NCTF) controller is proposed and improved. The objective of NCTF controller is to make the object motion to follow the NCT and ends at it origin. Generally, the NCTF controller consists of a Nominal Characteristic Trajectory (NCT) obtained from open loop response and Proportional Integral (PI) compensator. The CM-NCTF controller is proposed for evaluating the motion performance and compare with the conventional NCTF controller. For positioning control, both NCTF controllers demonstrate almost identical positioning performance. However, for tracking control, CM-NCTF controller demonstrates better tracking performance than the conventional NCTF controller with the smallest motion error presented. Besides, the robustness of the CM-NCTF controller to the variation load is examined. 

Robust Tracking Control of Autonomous Underwater Vehicles in the Presence of Disturbance Inputs

2009 ◽  
Author(s):  
S. Singh ◽  
A. Sanyal ◽  
R. Smith ◽  
N. Nordkvist ◽  
M. Chyba
Keyword(s):  
Feedback Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Open Loop ◽  
Robust Tracking Control ◽  
Trajectory Tracking Control ◽  
Loop Control ◽  
Control Scheme

An autonomous underwater vehicle (AUV) is expected to operate in an ocean in the presence of poorly known disturbance forces and moments. The uncertainties of the environment makes it difficult to apply open-loop control scheme for the motion planning of the vehicle. The objective of this paper is to develop a robust feedback trajectory tracking control scheme for an AUV that can track a prescribed trajectory amidst such disturbances. We solve a general problem of feedback trajectory tracking of an AUV in SE (3). The feedback control scheme is derived using Lyapunov-type analysis. The results obtained from numerical simulations confirm the asymptotic tracking properties of the feedback control law. We apply the feedback control scheme to different mission scenarios, with the disturbances being initial errors in the state of the AUV.

scholarly journals Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4374
Author(s):  
Jose Bernardo Martinez ◽  
Hector M. Becerra ◽  
David Gomez-Gutierrez
Keyword(s):  
Obstacle Avoidance ◽  
Tracking Control ◽  
Global Coordinate System ◽  
Avoidance Task ◽  
Time Varying ◽  
Control Laws ◽  
Formation Tracking ◽  
Control Scheme ◽  
First Time ◽  
Hierarchical Scheme

In this paper, we addressed the problem of controlling the position of a group of unicycle-type robots to follow in formation a time-varying reference avoiding obstacles when needed. We propose a kinematic control scheme that, unlike existing methods, is able to simultaneously solve the both tasks involved in the problem, effectively combining control laws devoted to achieve formation tracking and obstacle avoidance. The main contributions of the paper are twofold: first, the advantages of the proposed approach are not all integrated in existing schemes, ours is fully distributed since the formulation is based on consensus including the leader as part of the formation, scalable for a large number of robots, generic to define a desired formation, and it does not require a global coordinate system or a map of the environment. Second, to the authors’ knowledge, it is the first time that a distributed formation tracking control is combined with obstacle avoidance to solve both tasks simultaneously using a hierarchical scheme, thus guaranteeing continuous robots velocities in spite of activation/deactivation of the obstacle avoidance task, and stability is proven even in the transition of tasks. The effectiveness of the approach is shown through simulations and experiments with real robots.

scholarly journals Visual Tracking Control of Cable-Driven Hyper-Redundant Snake-Like Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 6224
Author(s):  
Qisong Zhou ◽  
Jianzhong Tang ◽  
Yong Nie ◽  
Zheng Chen ◽  
Long Qin
Keyword(s):  
Visual Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Adaptive Optimization ◽  
Tracking Errors ◽  
Kinematics Model ◽  
Compound Control ◽  
Original Intention ◽  
Control Scheme ◽  
Specific Geometry

The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF, performs flexible kinematic skills and competitive compound capability under complicated working circumstances. Nevertheless, the drawback of lacking the ability to perceive the environment to perform intelligently in complex scenarios leaves a lot to be improved, which is the original intention to introduce visual tracking feedback acting as an instructor. In this paper, a cable-driven snake-like robotic arm combined with a visual tracking technique is introduced. A visual tracking approach based on dual correlation filter is designed to guide the CHSM in detecting the target and tracing after its trajectory. Specifically, it contains an adaptive optimization for the scale variation of the tracking target via pyramid sampling. For the CHSM, an explicit kinematics model is derived from its specific geometry relationships and followed by a simplification for the inverse kinematics based on some assumption or limitation. A control scheme is brought up to combine the kinematics with visual tracking via the processing tracking errors. The experimental results with a practical prototype validate the availability of the proposed compound control method with the derived kinematics model.

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