This paper presents the trajectory tracking simulations of a dual-wheeled robot running on slippery surfaces. The robot has been developed to inspect the surface properties of hydroelectric dams. In such environments, wheel slips often result between the wheel and the dam surface because the wet ...
Trajectory Tracking The joint trajectory tracking controller has to control the torques generated in the joints so that the motion of the robot follows a specific trajectory as calculated by the trajectory generator. For many robots this tracking is performed by servo controllers. For electrical mo...
Use the following command or clickRunto start the simulation. Get sim('robotSafeTrajectoryTracking.slx','StopTime','5'); You should see the arm collide with the object yielding high torque inputs and a large reaction force. Note in this case the original time stamp is used. Stop the sim...
trajectory tracking control effect that is more in line with the actual driving environment. The co-simulation results of Carsim / Simulink show that the method achieves accurate output of different road attachment coefficients, synchronously enhances the intelligent automotive trajectory tracking control ...
Sine trajectory tracking simulation To verify the effect of the proposed scheme, the following simulation experiments are performed over the MATLAB Simulink platform. Three methods compound PID control (CPID), common sliding mode control (SM) and the proposed strategy, namely, sliding mode control wi...
This paper proposes a novel formulation of Model Predictive Control (MPC), based on linearized models, for tip trajectory tracking of time-varying references in an underactuated, non-minimum phase, two-link multibody system. Indeed, tip trajectory tracking in such systems is challenging due to the...
asymptotic stability of the trajectory tracking controller. In addition, the Barbalat Lemma is employed to prove the asymptotic stability of the controller tracking errors. Finally, the co-simulation using V-REP and MATLAB software are presented to validate the performance of our trajectory tracking ...
Controller optimization for trajectory tracking All of the simulations provided in this study were run in MATLAB/SIMULINK with the ODE45 solver using 0.001 s sampling time and the simulation time is taken to be 5 s on a personal computer with an Intel® Core™ i7-10750H CPU running at 2....
control is realized in intelligent vehicle. No matter in small deviation and curvature condition or large deviation and curvature condition, good control effects are achieved and both the condition adaptability and reliability of lateral control system in intelligent vehicle are enhanced. Simulation ...
After that, a fixed-time sliding mode controller is proposed with the application of a hyperbolic tangent function to ensure the fast convergence of tracking errors. Results The numerical simulation results show that fixed-time convergence for tracking errors can be guaranteed independent of the ...