Robust trajectory‐tracking in finite‐time for robot manipulators using nonlinear proportional‐derivative control plus feed‐forward compensation
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.5334
Abstract: In this article, we propose a novel nonlinear control scheme for the trajectory tracking in finite‐time of robot manipulators. Our control proposal is composed of two parts: a proportional‐derivative (PD) nonlinear feedback and a feed‐forward… read more here.
Keywords: finite time; feed forward; compensation; trajectory tracking ... See more keywords
Periodic Trajectory Tracking for Control-Affine Driftless Systems on Compact Lie Groups
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Dynamical and Control Systems"
DOI: 10.1007/s10883-019-09468-z
Abstract: We treat the periodic trajectory tracking problem : given a periodic trajectory of a control-affine, left-invariant driftless system in a compact and connected Lie group G and an initial condition in G , find another… read more here.
Keywords: periodic trajectory; control; tracking control; control affine ... See more keywords
An adaptive cascade trajectory tracking control for over-actuated autonomous electric vehicles with input saturation
Sign Up to like & getrecommendations! Published in 2019 at "Science China Technological Sciences"
DOI: 10.1007/s11431-018-9445-3
Abstract: This paper presented a novel adaptive cascade nonlinear trajectory tracking control scheme of over-actuated autonomous electric vehicles involving input saturation. First, a nonlinear vehicle dynamic model with input saturation is established, which can accurately describe… read more here.
Keywords: adaptive cascade; input saturation; control; saturation ... See more keywords
Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Shanghai Jiaotong University (Science)"
DOI: 10.1007/s12204-020-2195-y
Abstract: This paper addresses a three-dimensional (3D) trajectory tracking problem of underactuated autonomous underwater vehicles (AUVs) subjected to input saturation and external disturbances. The proposed controller can achieve practical convergence of tracking errors for general reference… read more here.
Keywords: three dimensional; underwater vehicles; dimensional trajectory; autonomous underwater ... See more keywords
Employing variable impedance (stiffness/damping) hybrid actuators on lower limb exoskeleton robots for stable and safe walking trajectory tracking
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Mechanical Science and Technology"
DOI: 10.1007/s12206-020-0534-4
Abstract: Compliant actuators are employed in exoskeleton robots instead of stiff actuators for safe human-robot interaction. In parallel with this idea, we previously constructed a biomimetic compliant exoskeleton robot (BioComEx). In this study, to provide more… read more here.
Keywords: exoskeleton robots; controller; impedance; exoskeleton ... See more keywords
A robust GPI controller for trajectory tracking tasks in the limbs of a walking robot
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-015-0387-2
Abstract: The study and development of walking robots implies solving several problems related with the design, dynamics, gait patterns, control and other topics inherent to their complex mechanism. One of the most important problems is the… read more here.
Keywords: tracking tasks; robust gpi; controller; walking robot ... See more keywords
Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots with External Disturbances and Parameter Uncertainties
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-019-0643-y
Abstract: Aiming at the trajectory tracking problem of nonholonomic wheeled mobile robots (WMR) with bounded external disturbances and parameter uncertainties, a dual-loop attitude tracking robust controller is proposed for WMR. Firstly, a kinematic controller is designed… read more here.
Keywords: nonholonomic wheeled; control; trajectory tracking; wheeled mobile ... See more keywords
Ahead-time Approach to Carrot-chasing Guidance Law for an Accurate Trajectory-tracking Control
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-020-0413-x
Abstract: This paper proposes a new approach to the carrot-chasing guidance law to provide an accurate trajectory-tracking function. The ahead-distance approach used in the conventional method highly depends on trajectory shapes and the complex geometric manipulation… read more here.
Keywords: accurate trajectory; guidance; approach; ahead time ... See more keywords
Crowd Segmentation Method Based on Trajectory Tracking and Prior Knowledge Learning
Sign Up to like & getrecommendations! Published in 2018 at "Arabian Journal for Science and Engineering"
DOI: 10.1007/s13369-017-2995-z
Abstract: Ensuring public safety and preventing accidents, such as stampedes, caused by crowd congestion, have become urgent problems to be solved. Conflicting, divergent movements in crowds are a main cause of crowd-related safety incidents and accidents.… read more here.
Keywords: prior knowledge; trajectory; based trajectory; segmentation ... See more keywords
A combined backstepping and adaptive fuzzy PID approach for trajectory tracking of autonomous mobile robots
Sign Up to like & getrecommendations! Published in 2021 at "Journal of The Brazilian Society of Mechanical Sciences and Engineering"
DOI: 10.1007/s40430-020-02767-8
Abstract: A combined backstepping and adaptive fuzzy PID approach for a nonholonomic autonomous mobile robot to follow the desired path is proposed in this paper. Two adaptive fuzzy PID controllers are adopted at the dynamic control… read more here.
Keywords: combined backstepping; backstepping adaptive; adaptive fuzzy; approach ... See more keywords
Design of Kinematic Controller Based on Parameter Tuning by Fuzzy Inference System for Trajectory Tracking of Differential-Drive Mobile Robot
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Fuzzy Systems"
DOI: 10.1007/s40815-020-00842-9
Abstract: This paper proposes a new kinematic controller (KC) when designing an autonomous mobile robot with type of differential-drive model in trajectory tracking control. The KC is responsible for creating the reference values of velocities transmitted… read more here.
Keywords: kinematic controller; drive; differential drive; mobile robot ... See more keywords