Synchronous Tracking Control for Agricultural Wide-Span Implement Carrier (WSIC)

2018 ◽  
Vol 61 (3) ◽  
pp. 873-883
Author(s):  
Chengming Luo ◽  
Ahmad Mohsenimanesh ◽  
Claude Laguë
Keyword(s):  
Cooperative Control ◽  
Control Method ◽  
Control Process ◽  
Path Following ◽  
Guidance System ◽  
Control Law ◽  
Robotic Platform ◽  
Steering Angle ◽  
Reference Velocity ◽  
Automatic Guidance

Abstract. The mobile operating mode of agricultural Wide-Span Implement Carriers (WSICs) requires accurate synchronization of the forward motions of the two supporting tractors. The guidance task for WSIC operations is currently performed by human operators, which is labor-intensive and can be inaccurate. To replace the traditional human steering and control process, an automatic guidance system adapted to the mobile mode of the WSIC was designed and tested. A master-slave cooperative control method was applied, and the steering angle control law for both the master and slave vehicles and the velocity control law for the slave vehicle were derived. A scaled-down robotic platform was developed by integrating two heavy-duty mobile robots, a dual-rover real-time kinematic GPS (RTK-GPS), two inertial measurement units (IMUs), two XBee-PRO wireless communication modules, and two groups of control processors. Validation experiments were performed using the robotic platform on a flat and firm surface. Results of the single-robot path-following experiment verified the effectiveness of the steering angle control law. Results of the two synchronous tracking experiments, one with a constant reference velocity of 0.3 m s-1 and one with a varying reference velocity of 0.2 to 0.6 m s-1, showed that the two robots could perform their individual path-following tasks accurately while keeping their relative offset to less than 0.1 m. In the experiment with a constant reference velocity, the average, root mean square (RMS), maximum lead, and maximum lag of the offset errors were 0.01, 0.03, 0.05, and 0.06 m, respectively. Slightly larger average, RMS, and maximum lead offset errors were observed in the experiment with a varying reference velocity, which were 0.02, 0.04, and 0.09 m, respectively. These experimental results confirmed that the designed control laws for the synchronous tracking of the WSIC vehicles were effective and the developed automatic guidance system was reliable and applicable. Keywords: Automatic guidance, Master-slave control, Synchronous tracking, Wide-Span Implement Carrier (WSIC).

scholarly journals Robust cooperative path tracking control algorithm for multi-vessel

2016 ◽  
Vol 8 (12) ◽  
pp. 168781401668330
Author(s):  
Jianfang Jiao ◽  
Guang Wang
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Cooperative Control ◽  
Control Method ◽  
Path Tracking ◽  
Ocean Currents ◽  
Guidance System ◽  
Backstepping Method ◽  
Control Approach ◽  
Virtual Leader

The issue of distributed cooperative path tracking control for multi-vessel in the presence of ocean currents has addressed in this article. The proposed cooperative control approach is achieved by designing the guidance system and the control system. In order to achieve the multi-vessel’s coordination with the desired spatial formation, the guidance system is designed based on the strategy of virtual leader for supplying the desire path and relevant parameters for each vessel. In addition, a robust cooperative path tracking controller is designed to reject the disturbance of unknown ocean currents using the backstepping method and the adaptive control technology. The synchronization between all the vessels is achieved by defining same path parameter and same speed along the path through the guidance system. Global asymptotic stability is guaranteed by Lyapunov-based technique for the whole control system. The effectiveness of the proposed cooperative path tracking control method is demonstrated by numerical simulation.

Non-Linear Path-Following Control of Micro-AUV

2014 ◽  
Vol 1006-1007 ◽  
pp. 599-603
Author(s):  
Xing Ji ◽  
Lei Zhang ◽  
Jian Cao ◽  
Shan Ma
Keyword(s):  
Control Method ◽  
Path Following ◽  
Lyapunov Stability Theory ◽  
Linear Feedback ◽  
Control Law ◽  
Linear Feedback Control ◽  
Path Following Control ◽  
Virtual Target ◽  
Non Linear ◽  
Following Error

A novel path-following control method of under-actuated AUV is proposed in this paper. Under the Serret-Frenet coordinate system, dynamics equations of path-following error were established based on virtual target AUV. And then combined with dynamics equations of AUV, controller was designed based on Lyapunov stability theory and backstepping technique. Simulation results showed that path-following error could converge to zero rapidly by using the proposed non-linear feedback control law, to make the AUV navigate along the referenced path.

An Adaptive Cooperative Control Method for Nonlinear System Based on Directed Graph

2013 ◽  
Vol 328 ◽  
pp. 67-71
Author(s):  
Zhao Ming Li ◽  
Yong Ming Gao ◽  
Ya Feng Niu
Keyword(s):  
Nonlinear System ◽  
Directed Graph ◽  
Cooperative Control ◽  
Control Method ◽  
Actual State ◽  
Control Law ◽  
Degree Of Control ◽  
The Difference ◽  
High Degree ◽  
Control Accuracy

In consideration of the disturbance influence, the system always has nonlinear terms. This paper proposes an adaptive autonomous cooperative control method for a class of nonlinear system based on the directed graph. The directed graph is used to describe the topology relationship among individuals in the system. The difference between desired and actual value of the system state is defined as error, by exchanging error information among individuals, and online-updating the nonlinear terms, all individual states are synchronized up to the desired value. The differential of the actual state is not needed, which reduces the requirements for relative measurment between individuals efficiently. Finally, the numerical simulation results show the correctness of the control law, and by configuring the control parameters reasonably, we can achieve high degree of control accuracy.

Autonomous Cooperative Control for a Class of Linear System Based on Directed Graph

2013 ◽  
Vol 710 ◽  
pp. 558-562
Author(s):  
Zhao Ming Li ◽  
Ya Feng Niu ◽  
Yong Ming Gao
Keyword(s):  
Linear System ◽  
Directed Graph ◽  
Cooperative Control ◽  
Control Algorithm ◽  
Control Method ◽  
Control Law ◽  
Degree Of Control ◽  
The Difference ◽  
High Degree ◽  
Control Accuracy

This paper proposes an autonomous cooperative control method for a class of linear system based on the directed graph, and the proof is given. The directed graph is used to describe the topology relationship among individuals in the system. The difference between desired and actual value of the system state is defined as error, and by exchanging error information among individuals, all individual states are synchronized up to the desired value. The control algorithm proposed in this paper has high robustness. Finally, the numerical simulation results show the correctness of the control law, and by configuring the control parameters reasonably, we can achieve high degree of control accuracy.

Path Following of a Ship Sailing in Restricted Waters Based on an Extended Updated-Gain High-Gain Observer

2018 ◽  
Author(s):  
Jianqin Wang ◽  
Zaojian Zou ◽  
Tao Wang
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
Control Method ◽  
Output Feedback Control ◽  
Path Following ◽  
High Gain ◽  
The State ◽  
State Feedback Control ◽  
Control Law ◽  
High Gain Observer

The paper studies the path following of a ship sailing in restricted waters based on an output feedback control, which consists of a state feedback control law and an extended updated-gain high-gain observer. According to the separation principle, the state feedback control and the extended updated-gain high-gain observer are designed separately. The state feedback control law is designed based on a robust guaranteed cost control method assuming that system states are measurable. Sufficient conditions are given for the control based on a linear uncertain system. The extended updated-gain high-gain observer, whose gains are updated according to the nonlinear functions of available evaluation errors, is used to reconstruct system states. Then the output feedback control is obtained by replacing states value in the state feedback control law with its estimation yielded by the state observer. Numerical simulations confirm the effectiveness of the proposed control method for the path following of a ship sailing in restricted waters.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

The Empirical Research on Automatic Control System of Training Information

2013 ◽  
Vol 427-429 ◽  
pp. 488-491
Author(s):  
Chuan Jin ◽  
Xiao Mei Wang ◽  
Ke Liu Yang
Keyword(s):  
Control System ◽  
Control Method ◽  
Control Process ◽  
Acquisition Training ◽  
Training Methods ◽  
Information Control ◽  
Basketball Players ◽  
Training Scheme ◽  
Evaluation Scores ◽  
Training Control

At present, basketball training needs more scientific training methods and techniques. In order to obtain these training methods, it needs to acquisition training information in the process of basketball training. Therefore, in view of basketball training to establish information control system, research on basketball players training characteristics and the law of motion in the process of basketball training, using control theory method to carry out information processing and analysis, and then the use of scoring methods carry out the authority score evaluation on basketball trainings influencing factors, according to the weight values, these are obtained on the basis of the score, then to carry out add sum, finally to obtain the evaluation scores of basketball training information control system. And then according to the weight value, to undertake an analysis of the basketball training control process, the basketball training information control method is put forward. The analysis results show that information control system is mainly manifested in the basketball training information collection and transmission, training scheme decision of coaches decision system as well as the feedback of decision information, which will complete the whole system construction of basketball training information control.

Feedback control framework for car-like robots using the unicycle controllers

Robotica ◽  
2011 ◽  
Vol 30 (4) ◽  
pp. 517-535 ◽  
Author(s):  
Maciej Michałek ◽  
Krzysztof Kozłowski
Keyword(s):  
Stability Analysis ◽  
Feedback Control ◽  
Closed Loop ◽  
Path Following ◽  
Rear Wheel ◽  
Front Wheel ◽  
Steering Angle ◽  
Formal Stability ◽  
Control Framework ◽  
Error Dynamics

SUMMARYThe paper introduces a novel general feedback control framework, which allows applying the motion controllers originally dedicated for the unicycle model to the motion task realization for the car-like kinematics. The concept is formulated for two practically meaningful motorizations: with a front-wheel driven and with a rear-wheel driven. All the three possible steering angle domains for car-like robots—limited and unlimited ones—are treated. Description of the method is complemented by the formal stability analysis of the closed-loop error dynamics. The effectiveness of the method and its limitations have been illustrated by numerous simulations conducted for the three main control tasks, namely, for trajectory tracking, path following, and set-point regulation.

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