B108 Adaptive trajectory tracking control System Design for a quadrotor with an Inner-Loop PFC

2015 ◽  
Vol 2015.14 (0) ◽  
pp. 105-110
Author(s):  
Ikuro Mizumoto ◽  
Takuto Nakamura ◽  
Makoto Kumon
Keyword(s):  
Control System ◽  
System Design ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control System Design ◽  
Trajectory Tracking Control

scholarly journals Trajectory Tracking Control System Design For Autonomous Two-Wheeled Robot

2018 ◽  
Vol 10 (3) ◽  
pp. 90 ◽  
Author(s):  
Nur Uddin
Keyword(s):  
Control System ◽  
System Design ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Initial Position ◽  
Control System Design ◽  
Trajectory Tracking Control ◽  
Wheeled Robot ◽  
Non Linear ◽  
The Right

A trajectory tracking control system design of an autonomous two-wheeled robot (TWR) is presented. The control system objective is to steer the TWR move on a desired trajectory in planar space. The TWR has two kinds of movement: moving forward/backward and turning to the right/left, where the movements are represented by a non-linear kinematics equation. Simplifying the trajectory tracking control system design, the non-linear kinematics equation is approximated by a linear kinematics equation. Linear quadratics regulator (LQR) method is applied to design the trajectory tracking control system. The designed control system is evaluated through computer simulation. Simulation results show that the designed control system is able to make the TWR track a desired trajectory that located 1.4 meter away from the TWR initial position within 3 seconds.

Trajectory tracking control system for ship

2004 ◽  
Vol 37 (10) ◽  
pp. 251-255 ◽  
Author(s):  
Janusz Pomirski ◽  
Leszek Morawski ◽  
Andrzej Rak
Keyword(s):  
Control System ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Tracking Control

Theoretical Analysis and Experimental Study on Automatic Trajectory Tracking Control of a Shield Tunneling Machine under Pressure Regulation Working Mode

2011 ◽  
Vol 317-319 ◽  
pp. 1444-1451
Author(s):  
Hai Bo Xie ◽  
Xiao Ming Duan ◽  
Hua Yong Yang ◽  
Zhi Bin Liu
Keyword(s):  
Control System ◽  
Working Conditions ◽  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Shield Tunneling ◽  
Trajectory Tracking Control ◽  
Variable Gain ◽  
Thrust System ◽  
Tunneling Machine

Hydraulic thrust system is a critical part of shield tunneling machine. Automatic trajectory tracking control is a significant task of thrust system during tunnel excavation. In this article, plane mechanical structure diagram of the thrust system and path planning method are illustrated at first. An integrated control system is proposed to achieve the automatic control of the thrust trajectory. The control system consists of one trajectory planning controller for both cylinders and an individual cylinder controller for each of hydraulic cylinders. Trajectory planning controller is used to generate respective displacement signals of double-cylinder in every thrust stroke and each of cylinder controllers is used to realize the precise control of the given thrust trajectory. Variable-gain PID control strategy applied to achieve the precise tracking control of thrust trajectory under several typical working conditions are done at last. The experimental results demonstrate that variable-gain PID control have good performances with short response time and small overshoot regardless of changes of working conditions.

Non-Autonomous Wheeled Mobile Robot Trajectory Tracking Control Based on the Navigation via WSN

2012 ◽  
Vol 457-458 ◽  
pp. 1089-1095
Author(s):  
Da Yong Lu ◽  
Zhen Hua Luo ◽  
Jian Lu Tian
Keyword(s):  
Control System ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Base Station ◽  
Reference Trajectory ◽  
Distributed Network ◽  
Feedback Channel ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Robot Trajectory

Trajectory tracking control is a major control problem in the application of the wheeled mobile robots (WMRs). However, many of the WMRs are autonomous which are equipped with several kinds of sensor to detect the position and orientation by itself, such as ultrasonic, laser, infrared and visual. This paper studies the implementation for a distributed network feedback control system and the trajectory tracking control algorithm for a non-autonomous WMR. The control system consists of a wireless sensor network (WSN) and a monitoring base station for measurement and feedback, and a non-autonomous WMR as controlled plant. To cope with the distributed and asynchronous measurements and slow response of the feedback channel, the sectional error amplitude limited algorithm is studied and the results show the system can effectively track a reference trajectory.

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