Trajectory Tracking of a Robotic Fish using Hybrid Controller

2011 ◽  
Author(s):  
Tesfay G. Meressi
Keyword(s):  
Trajectory Tracking ◽  
Robotic Fish ◽  
Hybrid Controller

scholarly journals Design Hybrid Iterative Learning Controller for Directly Driving the Wheels of Mobile Platform against Uncertain Parameters and Initial Errors

2021 ◽  
Vol 11 (17) ◽  
pp. 8181
Author(s):  
Lijun Qiao ◽  
Luo Xiao ◽  
Qingsheng Luo ◽  
Minghao Li ◽  
Jianfeng Jiang
Keyword(s):  
Trajectory Tracking ◽  
Rotation Speed ◽  
Structural Parameters ◽  
Control Variable ◽  
Iterative Learning ◽  
Mobile Platform ◽  
Uncertain Parameters ◽  
Physical Constraints ◽  
Initial Errors ◽  
Hybrid Controller

In this paper, we develop a hybrid iterative learning controller (HILC) for a non-holonomic wheeled mobile platform to achieve trajectory tracking with actual complex constraints, such as physical constraints, uncertain parameters, and initial errors. Unlike the traditional iterative learning controller (ILC), the control variable selects the rotation speed of two driving wheels instead of the forward speed and the rotation speed. The hybrid controller considers the physical constraints of the robot’s motors and can effectively handle the uncertain parameters and initial errors of the system. Without the initial errors, the hybrid controller can improve the convergence speed for trajectory tracking by adding other types of error signals; otherwise, the hybrid controller achieves trajectory tracking by designing a signal compensation for the initial errors. Then, the effectiveness of the proposed hybrid controller is proven by the relationship between the input, output, and status signals. Finally, the simulations demonstrate that the proposed hybrid iterative learning controller effectively tracked various trajectories by directly controlling the two driving wheels under various constraints. Furthermore, the results show that the controller did not significantly depend on the system’s structural parameters.

scholarly journals Trajectory Tracking of a Nonholonomic Wheeleed Mobile Robot Using Hybrid Controller

2016 ◽  
Vol 6 (3) ◽  
pp. 136-141 ◽  
Author(s):  
Zain Anwar Ali ◽  
◽  
Daobo Wang ◽  
Muhammad Safwan ◽  
Wanyue Jiang ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Hybrid Controller

scholarly journals Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Xiaoming Ji ◽  
Zihui Cai
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Sliding Mode ◽  
Experimental Tests ◽  
Euler Method ◽  
Trajectory Tracking Control ◽  
Hybrid Controller ◽  
Active Disturbance Rejection ◽  
Aerial Vehicle

The purpose of this article is to explore a dual-loop problem regarding the trajectory tracking control of a quadrotor unmanned aerial vehicle, applying a linear active disturbance rejection and conditional integrator sliding mode controller, namely, LARC-CISMC. The quadrotor system model is derived through Newton–Euler method and consists of two subsystems. The hybrid controller for position and attitude loops is constructed. An evaluation of the proposed controller is presented in comparison with the linear active disturbance rejection controller. Simulation comparisons and experimental tests illustrate that the proposed controller has a satisfied robustness and accuracy under lumped disturbances.

scholarly journals Trajectory Tracking of Flexible-Joint Robots Actuated by PMSM via a Novel Smooth Switching Control Strategy

2019 ◽  
Vol 9 (20) ◽  
pp. 4382 ◽  
Author(s):  
Yue Wang ◽  
Haisheng Yu ◽  
Jinpeng Yu ◽  
Herong Wu ◽  
Xudong Liu
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Sliding Mode ◽  
Gaussian Function ◽  
Switching Control ◽  
Switching Function ◽  
Flexible Joint ◽  
Hybrid Controller ◽  
Hierarchical Sliding Mode ◽  
Smooth Switching

This paper presents the trajectory tracking control of a flexible-joint manipulator driven by permanent magnet synchronous motor (PMSM). Combining the PMSM electrical equation and mechanical equation of robotic manipulators, a novel smooth switching control scheme is proposed. Firstly, the position loop controller of the system is designed, with an improved hierarchical sliding mode control (IHSMC) algorithm proposed to further the response speed of the system, additionally, a robust interconnection and damping assignment passivity-based controller (IDA-PBC) is designed to improve the steady state performance of the system. Then, the IDA-PBC control strategy is leveraged to design the current loop controller of the system, on which basis a hybrid controller with smooth switching is designed. Furthermore, Gaussian function is applied as the smooth switching function of the hybrid controller to promote the switching performance. As a result, the hybrid controller has both good dynamic and steady performance. The simulation results verify the effectiveness of the algorithms.

Backstepping-Based Hybrid Target Tracking Control for a Carangiform Robotic Fish

2013 ◽  
Author(s):  
Songlin Chen ◽  
Jianxun Wang ◽  
Xiaobo Tan
Keyword(s):  
Target Tracking ◽  
Tracking Control ◽  
Open Loop ◽  
Rigid Body Dynamics ◽  
Robotic Fish ◽  
Target Point ◽  
Hybrid Controller ◽  
Control Scheme ◽  
Body Theory ◽  
Hybrid Target

In this paper we apply backstepping technique to develop a novel hybrid target-tracking control scheme for a carangiform robotic fish, based on a dynamic model that combines rigid-body dynamics with Lighthill’s large-amplitude elongated-body theory. This hybrid controller consists of an open-loop turning controller and a closed-loop approaching controller. A hysteretic switching strategy based on the orientation error is designed. Using Lyapunov analysis, we show that the trajectory of the robotic fish will converge to the target point. The effectiveness of the proposed control strategy is demonstrated through both simulations and experiments.

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