Preview controlLMIA novel preview control scheme is developed for the trajectory tracking problem of continuous-time Lur'e-type nonlinear systems. With the aid of the translation approach, the state augmentation technique along with some special mathematical manipulations, an augmented error system ...
This paper researches on trajectory tracking control system through simulation, theory and experiment. It deals with the use of Universal Motion and Automation Controller UMAC based on preview control method to give good trajectory tracking performance of 3-axis servo system. The subject of this ...
This paper studies the optimal preview control problem for trajectory tracking based on goal preview time. In the optimal control system for tracking system, a feed-forward compensator will be added to the system to be more able to trace, along with maintaining a good stability. The goal is ...
Mera, “Robust tracking control design for unicycle mobile robots with input saturation,” Control Engineering Practice, vol. 107, 104676, 2021. Article Google Scholar P. Rochel, H. Ríos, M. Mera, and A. Dzul, “Trajectory tracking for uncertain unicycle mobile robots: A supertwisting ...
Guidelines are provided for the design of the compliant wrist while employing the designed switching control strategy, such that stable tracking of a motion-force reference trajectory can be achieved and bouncing of the manipulator while making contact with the stiff environment can be avoided. ...
Trajectory Tracking Control of Mobile Robot Based on Self-Adaptive PID Combined with Preview and Fuzzy Logic A new method for controlling the steering and trajectory of the electric mobile robot is proposed. In order to control the robots position and heading, the... DL Li,ZS He,YF Yin - ...
According to the real-time state of vehicle-road system, the controller output with higher goodness is chosen, thus the function of lateral trajectory tracking control is realized in intelligent vehicle. No matter in small deviation and curvature condition or large deviation and curvature condition, ...
This requires little vertical motion; and, when a part comes into contact with the workpiece theenvironmental rigors of extra- vehicluar ... Engelberger,F Joseph - 《Springer Netherlands》 被引量: 181发表: 1989年 Trajectory planning and sliding-mode control based trajectory-tracking for cybercars...
Adaptive Practical Tracking Control for a Class of Uncertain Flexible Joint Robots with Variable Stiffness Actuators Article 30 January 2023 References Bridges MM, Dawson DM, Qu Z, Martindale SC (1994) Robust control of rigid-link flexible-joint robots with redundant joint actuators. IEEE Trans Sys...
Its novel formulation takes as inputs all the magnitudes of the planned trajectory (i.e. position and heading, velocity, and acceleration) to generate the control commands, demonstrating through in-lab real flights an improvement of the tracking performance when compared with a controller that only...