2203 Automatic Lane-Tracking Control of Four-Wheel-Steering Automobile Designed by Model Matching Control Method

2001 ◽  
Vol 2001.10 (0) ◽  
pp. 137-140
Author(s):  
◽  
Hiroshi MOURI ◽  
Masao NAGAI
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Model Matching ◽  
Lane Tracking

Robust tracking control in the inertia phase for generalised disturbance

2020 ◽  
pp. 095440622096112
Author(s):  
Guoxiang Cao ◽  
Anlin Wang ◽  
Xiaotian Li ◽  
Donghuan Xu ◽  
Xucan Fan
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Automatic Transmission ◽  
Simulation Platform ◽  
Model Matching ◽  
Robust Tracking Control ◽  
Outer Loop ◽  
Wheel Loader ◽  
Disturbance Suppression ◽  
Wheel Loaders

To solve the problem of shift shock during the inertia phase caused by generalized disturbances in wheel loaders and other construction instruments, a robust double closed-loop tracking control method based on an improved disturbance observer (DOB) has been proposed. In this method, the inner loop robustly suppresses disturbance and the outer loop realizes trajectory tracking. The improved DOB based on a nominal disturbance value (NDV) can enhance the disturbance suppression ability of the inner loop when a large part of the generalized disturbance is determinable. The model matching method transforms the outer loop into a transfer function to meet the expected performance. A disturbance compensation controller eliminates the nominal disturbance in the system. A feedforward compensation controller eliminates the influence of reference inputs in the system. Considering the inertia phase of a fixed-axis automatic transmission of a wheel loader, the proposed method was applied to the driveline simulation platform of a specific type of wheel loader. Random loads under actual working conditions were considered as the input load of the simulation platform. The simulation results indicated that the DOB based on the NDV method has better disturbance suppression capability, more accurate tracking capability and smaller shift shock than the conventional DOB method. The proposed control method exhibits robustness under 10%, 50% and 90% of the maximum load. The highest shift shock is 4.94% of the manual shift shock and it is effectively reduced. Thus, robust and smooth inertia phase shift control of the automatic transmission can be realized. This study presents an effective method for solving robust disturbance suppression control problems and tracking control problem under large generalized disturbances.

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

scholarly journals Application of a nonovershooting tracking control method for the Double Buck Converter

2020 ◽  
Vol 53 (2) ◽  
pp. 6151-6156
Author(s):  
Robert Schmid ◽  
Tony Srour ◽  
Johann Reger
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Buck Converter

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.

Automatic Frequency-Tracking Control for Ultrasound Welding System

2011 ◽  
Vol 204-210 ◽  
pp. 2041-2044
Author(s):  
Kao Feng Yarn ◽  
King Kung Wu ◽  
Kai Hsing Ma ◽  
Wen Chung Chang
Keyword(s):  
High Power ◽  
Tracking Control ◽  
Control Method ◽  
Ultrasonic Welding ◽  
Automatic Frequency ◽  
Frequency Tracking ◽  
Power Ultrasonic ◽  
Fpga Chip ◽  
Working Frequency ◽  
Welding System

A new frequency-tracking control method to catch the optimal working frequency for the high power ultrasonic welding system is proposed. In a high power ultrasonic resonant system, the induced high temperature will change the working frequency. Therefore, the proposed control method to track the optimal working frequency becomes very attractive and important. This control method is practically implemented by a FPGA chip which basically includes two logic circuits. One logic circuit is to find the optimal working frequency automatically and the other one is to adjust the working frequency by detecting the working current simultaneously. Experimental results exhibit the new method can effectively control and track frequency for high power ultrasonic welding system.

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