Development of an Integrated Tracking Control Algorithm for Digging Operations of an Excavator

2020 ◽  
Author(s):  
N. Reginald ◽  
J. Seo ◽  
Abdullah Rasul
Keyword(s):  
Tracking Control ◽  
Control Algorithm

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

scholarly journals Formation tracking of multiple amphibious robots with unknown nonlinear dynamics

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093854
Author(s):  
Di Wu ◽  
Lichao Hao ◽  
Xiujun Xu ◽  
Hongjian Wang ◽  
Jiajia Zhou
Keyword(s):  
Nonlinear Dynamics ◽  
Tracking Control ◽  
Control Algorithm ◽  
Dynamic Control ◽  
Lyapunov Theory ◽  
Kinematic Control ◽  
Formation Tracking ◽  
Control Stage ◽  
Cooperative Tracking ◽  
Unknown Nonlinear Dynamics

Cooperative tracking control problem of multiple water–land amphibious robots is discussed in this article with consideration of unknown nonlinear dynamics. Firstly, the amphibious robot dynamic model is formulated as an uncoupled nonlinear one in horizontal plane through eliminating relatively small sway velocity of the platform. Then cooperative tracking control algorithm is proposed with a two-stage strategy including dynamic control stage and kinematic control stage. In dynamic control stage, adaptive consensus control algorithm is obtained with estimating nonlinear properties of amphibious robots and velocities of the leader by neural network with unreliable communication links which is always the case in underwater applications. After that, kinematic cooperative controller is presented to guarantee formation stability of multiple water–land amphibious robots system in kinematic control stage. As a result, with the implementation of graph theory and Lyapunov theory, the stability of the formation tracking of multiple water–land amphibious robots system is proved with consideration of jointly connected communication graph. At last, simulations are carried out to prove the effectiveness of the proposed approaches.

scholarly journals Iterative Learning Tracking Control of Nonlinear Multiagent Systems with Input Saturation

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Bingyou Liu ◽  
Zhengzheng Zhang ◽  
Lichao Wang ◽  
Xing Li ◽  
Xiongfeng Deng
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Multiagent System ◽  
Input Saturation ◽  
Iterative Learning ◽  
Adaptive Iterative Learning Control ◽  
External Interference ◽  
Adaptive Time ◽  
Precision Tracking ◽  
Precision Tracking Control

A tracking control algorithm of nonlinear multiple agents with undirected communication is studied for each multiagent system affected by external interference and input saturation. A control design scheme combining iterative learning and adaptive control is proposed to perform parameter adaptive time-varying adjustment and prove the effectiveness of the control protocol by designing Lyapunov functions. Simulation results show that the high-precision tracking control problem of the nonlinear multiagent system based on adaptive iterative learning control can be well realized even when the input is saturated. Finally, the validity of the proposed algorithm is verified by numerical analysis.

A Fast PV Power Tracking Control Algorithm With Reduced Power Mode

2013 ◽  
Vol 28 (3) ◽  
pp. 565-575 ◽  
Author(s):  
Ashraf Ahmed ◽  
Li Ran ◽  
Sol Moon ◽  
Joung-Hu Park
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Power Mode

Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

2021 ◽  
Vol 37 (5) ◽  
pp. 891-899
Author(s):  
Bingli Zhang ◽  
Jin Cheng ◽  
Pingping Zheng ◽  
Aojia Li ◽  
Xiaoyu Cheng
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Path Tracking ◽  
Steering Angle ◽  
Lateral Deviation ◽  
Yaw Rate ◽  
Automatic Navigation ◽  
Rate Feedback ◽  
The Ideal

HighlightsAutomatic navigation technology in autonomous tractors is one of the key technologies in precision agriculture.A path-tracking control algorithm based on lateral deviation and yaw rate feedback is proposed.The modified steering angle was obtained by comparing the ideal yaw rate with the actual yaw rate.The results demonstrate the efficiency and superior accuracy of the proposed algorithm for tractor path-tracking control.Abstract. The performance of path-tracking control systems for autonomous tractors affects the quality and efficiency of farmland operations. The objective of this study was to develop a path-tracking control algorithm based on lateral deviation and yaw rate feedback. The autonomous tractor path lateral dynamics model was developed based on preview theory and a two-degree-of-freedom tractor model. According to the established dynamic model, a path-tracking control algorithm using yaw angular velocity correction was designed, and the ideal steering angle was obtained by lateral deviation and sliding mode control. The modified steering angle was obtained by a proportional-integral-derivative feedback controller after comparing the ideal yaw rate with the actual yaw rate, which was then combined with the ideal steering angle to obtain the desired steering angle. The simulation and experimental results demonstrate the efficiency and superior accuracy of the proposed tractor path-tracking control algorithm, enabling its application in automatic navigation control systems for autonomous tractors. Keywords: Autonomous tractor, Path-tracking control, Sliding mode control, Yaw rate feedback.

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