The simulation results show the robustness of the control scheme. It effectively suppressed the vibrations as the vibration modes of the links convergent to zero. This study provides a control scheme for improving the trajectory tracking accuracy of FFSR, which is of practical importance.Huang, X....
The trajectory tracking controller is designed to include the compute torque controller and self-adaptation fuzzy compensation controller. At the same time, the virtual prototype of the manipulator is structured via adding constraints and drives based on a modular design method. A co-simulation ...
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...
It is demonstrated by numerical simulation that the proposed methods are efficient. 展开 关键词: rigid flexible manipulation nonlinear decoupling trajectory tracking vibration suppression simulation DOI: 10.1360/biodiv.050084 被引量: 33 年份: 2005 ...
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 simulation afterwards. Now, toggle trajectory scaling switch to On and...
These simulation studies, which consider different reference trajectories, show that the proposed control scheme is robust under bounded disturbances. 展开 关键词: Autonomous underwater vehicles AUV Underactuated Trajectory tracking Sliding mode control ...
and imaging principle of pinhole camera.A global asymptotically stable tracking controller is designed by using visual serving and backstepping method,meanwhile,the Lyapunov theory is used to verify the stability of the controller.Simulation results show the effectiveness and correctness of the designed ...
We developed a special combination of vortex method and particle trajectory tracking method, which is applicable to internal unsteady two-phase flows. This method is a completely grid-free Lagrangian-Lagrangian simulation, which is able to simulate interactions between particles and the fluid flow. Thi...
At last, the simulation results based on the Matlab/Simulation show that the sliding-mode controller has good control accuracy when used in the trajectory tracking control of the robot. 展开 关键词: Kalman filter mobile robot sliding-mode controller ...
Then, backstepping controller is obtained in three steps and simulation model of the backstepping controller is formed. On the other hand, time-varying optimal control gains of LQT controller are found offline by solving matrix difference Riccati equation(DRE) backwards in time. Then, LQT controller...