The target tracking of the non-smooth motion trajectory based on Volterra adaptive control

2018 ◽  
Author(s):  
Feng Han ◽  
Shuying Yang
Keyword(s):  
Adaptive Control ◽  
Target Tracking ◽  
Motion Trajectory ◽  
Smooth Motion

Adaptive control strategy-based reference model for spacecraft motion trajectory

2014 ◽  
Vol 29 (5) ◽  
pp. 639-652 ◽  
Author(s):  
Zarina Samigulina ◽  
Olga Shiryayeva ◽  
Galina Samigulina ◽  
Hassen Fourati
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Reference Model ◽  
Motion Trajectory ◽  
Spacecraft Motion ◽  
Adaptive Control Strategy

Smooth trajectory planning methods using physical limits

2014 ◽  
Vol 229 (12) ◽  
pp. 2127-2143 ◽  
Author(s):  
An Yong Lee ◽  
Youngjin Choi
Keyword(s):  
Trajectory Planning ◽  
Environmental Conditions ◽  
Comparative Studies ◽  
Polynomial Method ◽  
Motion Trajectory ◽  
Smooth Motion ◽  
Planning Methods ◽  
Cubic Polynomial ◽  
S Curve ◽  
Curve Form

In order for robots to be operated in a variety of environmental conditions, a smooth motion trajectory to goal point is needed in accordance with actuators specifications of the robot. In this paper, a conventional cubic polynomial method for symmetric curve (S-curve) trajectory planning is extended to the smooth (infinitely differentiable and continuous) symmetric and asymmetric curve (AS-curve) trajectory planning derived from a smooth jerk function. In other words, the proposed methods are able to generate the trajectory as S/AS-curve form as well as to satisfy several physical limits such as jerk limit, acceleration limit, and velocity limit. The effectiveness of the proposed methods is shown through comparative studies with existing method.

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