1A1-H04 Autonomous Navigation of Hydraulically Actuated Hexapod Robot COMET-IV : The 1st Report: Outdoor Trajectory Tracking Control by using GPS

2008 ◽  
Vol 2008 (0) ◽  
pp. _1A1-H04_1-_1A1-H04_3
Author(s):  
Yuji HARADA ◽  
Hiroshi OOROKU ◽  
Masaki OKU ◽  
Kosuke FUTAGAMI ◽  
Xiaowu LIN ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Navigation ◽  
Hexapod Robot ◽  
Trajectory Tracking Control ◽  
Hydraulically Actuated

scholarly journals Robust trajectory tracking control for unmanned surface vessels under motion constraints and environmental disturbances

2021 ◽  
pp. 147509022110396
Author(s):  
Ruo Zhang ◽  
Yuanchang Liu ◽  
Enrico Anderlini
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Navigation ◽  
Lyapunov Theory ◽  
Trajectory Tracking Control ◽  
Environmental Disturbances ◽  
Motion Constraints ◽  
Surface Vessels ◽  
Control Scheme ◽  
The Stability

To achieve a fully autonomous navigation for unmanned surface vessels (USVs), a robust control capability is essential. The control of USVs in complex maritime environments is rather challenging as numerous system uncertainties and environmental influences affect the control performance. This paper therefore investigates the trajectory tracking control problem for USVs with motion constraints and environmental disturbances. Two different controllers are proposed to achieve the task. The first approach is mainly based on the backstepping technique augmented by a virtual system to compensate for the disturbance and an auxiliary system to bound the input in the saturation limit. The second control scheme is mainly based on the normalisation technique, with which the bound of the input can be limited in the constraints by tuning the control parameters. The stability of the two control schemes is demonstrated by the Lyapunov theory. Finally, simulations are conducted to verify the effectiveness of the proposed controllers. The introduced solutions enable USVs to follow complex trajectories in an adverse environment with varying ocean currents.

scholarly journals Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle

2021 ◽  
Vol 2021 ◽  
pp. 1-22
Author(s):  
Wenli Sun ◽  
Xu Gao
Keyword(s):  
Deep Learning ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Navigation ◽  
Tracking Error ◽  
Interval Programming ◽  
Trajectory Tracking Control ◽  
Guidance Law ◽  
Effect Level ◽  
Operating Suite

Trajectory tracking control based on waypoint behavior is a promising way for unmanned surface vehicle (USV) to achieve autonomous navigation. This study is aimed at the guidance progress in the kinematics; the artificial intelligence method of deep learning is adopted to improve the trajectory tracking level of USV. First, two deep neural network (DNN) models are constructed to evaluate navigation effects and to estimate guidance law parameters in real time, respectively. We then pretrain the DNN using a Gaussian–Bernoulli restricted Boltzmann machine to further improve the accuracy of predicting navigation effect. Finally, two DNNs are connected in parallel with the control loop of USV to provide predictive supervision and auxiliary decision making for traditional control methods. This kind of parallel way conforms to the ship manipulation of habit. Furthermore, we develop a new application on the basis of Mission Oriented Operating Suite Interval Programming named “pDeepLearning.” It can predict the navigation effect online by DNN and adjust the guidance law parameters according to the effect level. The experimental results show that, compared with the original waypoint behavior of USV, the prediction model proposed in this study reduces the trajectory tracking error by 19.0% and increases the waypoint behavior effect level.

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

Research on the Trajectory Tracking Control of a Swinging Spherical Robot

2021 ◽  
Author(s):  
Guiyang Cui ◽  
Haiyan Yang ◽  
Kaifeng Xiong ◽  
Hua Zhang ◽  
Mingming Guo
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Spherical Robot ◽  
Trajectory Tracking Control

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

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