scholarly journals Non-Affine Nonlinear Systems Adaptive Optimal Trajectory Tracking Controller Design and Application

2015 ◽  
Vol 24 (1) ◽  
Author(s):  
Haoping WANG ◽  
Yang TIAN ◽  
Christian VASSEUR
Keyword(s):  
Nonlinear Systems ◽  
Trajectory Tracking ◽  
Optimal Trajectory ◽  
Controller Design ◽  
Tracking Controller ◽  
Affine Nonlinear Systems ◽  
Trajectory Tracking Controller ◽  
Design And Application

An Efficient Approach of Time-Optimal Trajectory Generation for the Fully Autonomous Navigation of the Quadrotor

2017 ◽  
Vol 139 (6) ◽  
Author(s):  
Wei Dong ◽  
Ye Ding ◽  
Jie Huang ◽  
Xiangyang Zhu ◽  
Han Ding
Keyword(s):  
Linear Programming ◽  
Programming Problem ◽  
Trajectory Tracking ◽  
Linear Programming Problem ◽  
Optimal Trajectory ◽  
Trajectory Generation ◽  
Nurbs Curve ◽  
Tracking Controller ◽  
Time Optimal ◽  
Trajectory Tracking Controller

In this work, a time-optimal trajectory generation approach is developed for the multiple way-point navigation of the quadrotor based on the nonuniform rational B-spline (NURBS) curve and linear programming. To facilitate this development, the dynamic model of the quadrotor is formulated first. Then, the geometric trajectory regarding multiple way-point navigation is constructed based on the NURBS curve. With the constructed geometric trajectory, a time-optimal interpolation problem is imposed considering the velocity, acceleration, and jerk constraints. This optimization problem is solved in two steps. In the first step, a preliminary result is obtained by solving a linear programming problem without jerk constraints. Then by introducing properly relaxed jerk constraints, a second linear programming problem is formulated based on the preliminarily obtained result, and the time-optimal problem can be fully solved in this way. Subsequently, a nonlinear trajectory tracking controller is developed to track the generated trajectory. The feasibilities of the proposed trajectory generation approach as well as the tracking controller are verified through both simulations and real-time experiments. With enhanced computational efficiency, the proposed approach can generate trajectory for an indoor environment with the smooth acceleration profile and moderate velocity V≈1 m/s in real-time, while guaranteeing velocity, acceleration, and jerk constraints: Vmax=1 m/s, Amax=2 m/s2, and Jmax=5 m/s3. In such a case, the trajectory tracking controller can closely track the reference trajectory with cross-tracking error less than 0.05 m.

scholarly journals Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Emre Sariyildiz ◽  
Rahim Mutlu ◽  
Chuanlin Zhang
Keyword(s):  
State Space ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Position Control ◽  
Controller Design ◽  
Design Method ◽  
Control Input ◽  
Active Disturbance Rejection ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

This paper proposes a new active disturbance rejection (ADR) based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references are generated in terms of a fictitious design variable, namely differentially flat output, and the estimations of disturbances by using differential flatness (DF) and disturbance observer (DOb). Two different robust controller design techniques are proposed by using Brunovsky canonical form and polynomial matrix form approaches. The robust position control problem of a two mass-spring-damper system is studied to verify the proposed ADR controllers.

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