Trajectory tracking of a wheeled mobile robot based on the predefined‐time sliding mode control scheme
Sign Up to like & getrecommendations! Published in 2024 at "Asian Journal of Control"
DOI: 10.1002/asjc.3403
Abstract: In this paper, a double‐loop control method is proposed to improve the trajectory tracking performance of a wheeled mobile robot (WMR) with slippage properties and external disturbances. Considering the strong robustness and the ability to… read more here.
Keywords: time; control; wheeled mobile; trajectory tracking ... See more keywords
A robust trajectory tracking controller for constrained and perturbed unicycle mobile robots
Sign Up to like & getrecommendations! Published in 2025 at "Asian Journal of Control"
DOI: 10.1002/asjc.3632
Abstract: This paper contributes to the design of a robust control strategy for the trajectory tracking problem in constrained and perturbed unicycle mobile robots. The proposed robust control strategy is composed of two controllers: a linear… read more here.
Keywords: perturbed unicycle; control; trajectory tracking; unicycle mobile ... See more keywords
Trajectory tracking control of a wheeled mobile robot with unmeasurable velocity based on a super‐twisting algorithm
Sign Up to like & getrecommendations! Published in 2025 at "Asian Journal of Control"
DOI: 10.1002/asjc.3819
Abstract: In this paper, a trajectory tracking control problem is investigated for a wheeled mobile robot (WMR) under unmeasurable velocity. A trajectory tracking strategy is proposed based on a dual closed‐loop control architecture with a linear… read more here.
Keywords: tracking control; control; wheeled mobile; trajectory tracking ... See more keywords
Model predictive control for trajectory tracking of quadrotor based on neural dynamics optimization
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DOI: 10.1002/asjc.3843
Abstract: As a typical MIMO underactuated nonlinear system, a quadrotor is highly sensitive to both its internal states and external disturbances. To ensure a stable flight and precise trajectory tracking under strict state and input constraints,… read more here.
Keywords: model predictive; control; quadrotor; predictive control ... See more keywords
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
A General Prescribed Performance Trajectory Tracking Control Policy for Quadrotor UAVs Under Event‐Triggered Sampling
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DOI: 10.1002/rnc.70148
Abstract: This paper studies the issue of trajectory tracking control of quadrotor unmanned aerial vehicles in the presence of external disturbances. A prescribed performance control method with more general performance functions is proposed to guarantee the… read more here.
Keywords: tracking control; event triggered; control; prescribed performance ... See more keywords
Accurate trajectory tracking control for AUV under state constraints with a rapid stability dimensionality‐augmented state observer
Sign Up to like & getrecommendations! Published in 2024 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.7591
Abstract: A rapid stability dimensionality‐augmented state observer (RSDASO) based event‐driven control strategy is presented for the autonomous underwater vehicle (AUV) trajectory tracking issue, addressing state constraints, model uncertainty, limited communication resources and unknown external time‐varying disturbances.… read more here.
Keywords: control; stability; trajectory tracking; state observer ... See more keywords
Intelligent Driving Vehicle Trajectory Tracking Control Based on an Improved Fractional‐Order Super‐Twisting Sliding Mode Control Strategy
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DOI: 10.1002/rnc.7727
Abstract: Aiming at resolving trajectory tracking control challenges during high‐speed lane changes in intelligent driving vehicles, an innovative fractional‐order sliding mode control approach is introduced in the present study. The control strategy comprises upper and lower‐level… read more here.
Keywords: fractional order; control; trajectory tracking; strategy ... See more keywords
Learning‐Based Data‐Enable Predictive Control for Trajectory Tracking of Unknown Systems
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DOI: 10.1002/rnc.7859
Abstract: This paper addresses the problem of tracking a reference trajectory with high‐accuracy for a controlled object with unknown system dynamics, subject to input and output constraints. To this end, we propose a novel learning‐based data‐enabled… read more here.
Keywords: control; predictive control; trajectory tracking; accuracy ... See more keywords
Energy‐Based Trajectory Tracking for Underactuated Mechanical Systems: Velocity‐Free and Disturbance Rejection Methods
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DOI: 10.1002/rnc.8014
Abstract: This work investigates three energy‐shaping control approaches to address the trajectory‐tracking problem for specific classes of underactuated mechanical systems. In particular, the notions of contractive systems and dynamic extensions are utilized to solve the trajectory‐tracking… read more here.
Keywords: energy; mechanical systems; underactuated mechanical; 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