trajectory tracking control


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Fault-tolerant trajectory tracking control of a quadrotor helicopter using gain-scheduled PID and model reference adaptive control
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Based on two successfully and widely used control techniques in many industrial applications under normal (fault-free) operation conditions, the Gain-Scheduled Proportional- Integral-Derivative (GS-PID) control and Model Reference Adaptive Control (MRAC)

Fuzzy PID based trajectory tracking control of mobile robot and its simulation in Simulink
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The precise control of mobile robot is an important issue in robotics field. In this paper, the motion model of mobile robot is established by mechanism analysis. Then, a fuzzy PID controller is designed for trajectory tracking of mobile robot. The controller consists of a PID

Trajectory tracking control for mobile robot using wavelet network
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This paper present a new wavelet network control scheme for mobile robot path tracking . The particles swarm optimization (PSO) method is used for determining the optimal wavelet neural network parameters and the proportional integral derivative (PID) controller

Trajectory tracking control for robot manipulator using fractional order-fuzzy-PID controller
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Robotic manipulator is a Multi-Input Multi-Output (MIMO), highly nonlinear and coupled system. Therefore, designing an efficient controller for this system is a challenging task for the control engineers. In this paper, the Fractional Order-Fuzzy-Proportional Integral

Trajectory tracking control based on a genealogical decision tree controller for robot manipulators
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The performance of a simple and easy-to-implement control design technique in the control of robotic manipulators is examined. The suggested control approach is based on open-loop optimization using a genealogical decision tree (GDT), and can be used in solving both

Flatness-based trajectory tracking control of a rotating shaft
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Control of a magnetically levitated shaft used for drilling non-circular holes is considered. For this drilling process the shaft position must track a given reference trajectory determining the shape of the hole. The flatness property of the shaft model simplifies the design of a

Trajectory tracking control of a quadrotor using feedback linearization
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This paper presents a nonlinear trajectory tracking control design for a quadrotor helicopter using feedback linearization. The quadrotor dynamics consists of two equations of motion, one for the translation and the other for the rotation. The dynamics for the rotational motion is

Trajectory tracking control for a wheeled mobile robot using fuzzy logic controller.
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A trajectory tracking control for a wheeled mobile robot using fuzzy logic controller (FLC) is presented in this paper. The control algorithm based on the errors in postures of mobile robot which feed FLC, which generates correction signals for the left and right motor speeds

Automatic trajectory tracking control of kites
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In 1980 Loyd wrote a seminal paper exploring the possibility of generating electrical power using the pulling force of tethered airfoils, ie, kites [30]. During the oil glut of the 1980s, however, interest in wind energy dropped. It was only during the turn of the 21st century that

Trajectory tracking control of a planar 3-RRR parallel manipulator with singularity avoidance
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Avoiding singularities while tracking a commanded trajectory is an inherent challenge in any parallel manipulator. Off-line path planning and trajectory generation can be used where the singularity manifold is relatively well-known, and/or amenable to mathematical analysis

Mobile robot local trajectory tracking with dynamic model predictive control techniques
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This paper extends the authors previously published work for mobile robots to trajectory tracking with dynamic model-based predictive control techniques. The use of dynamic models and experimental cost-function factor adjustments are important aspects of this work

Inversion based trajectory tracking control for a parallel kinematic manipulator with flexible links
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Trajectory tracking of flexible multibody systems is a challenging task since they possess more degrees of freedom than control inputs and impede the direct measurement of the assumed generalised coordinates. In this paper a control approach based on combined

Quadrotor trajectory tracking control : a PD control algorithm
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This paper constructs a relationship between attitude and translational movement of a quadrotor, and presents a PD logic tracking control design algorithm capable of not only stabilizing attitude but also tracking a desired trajectory accurately. In contrast to

Trajectory tracking control of a real redundant manipulator of the SCARA type
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Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the

Motion control and trajectory tracking control for a mobile robot via disturbance observer
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This paper investigates the tracking control of a wheeled mobile robot in the unknown environment. A disturbance observer is developed with utilization the integral filter. The proposed control scheme employs the disturbance observer control approach to design an

Robust BELBIC-extension for trajectory tracking control
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In real-life trajectory tracking applications of robotic manipulators uncertain robot dynamics, external disturbances and switching constraints which cannot be accommodated for by a conventional controller affect the system performance. We suggested an additional control

Trajectory tracking of linear inverted pendulum using integral sliding mode control
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This paper considers the trajectory tracking control of linear inverted pendulum (IP) system. First the linearized model of IP is derived to facilitate the control design. To avoid non robust reaching phase, integral sliding mode control (ISMC) has been proposed but single variable

On a wheeled mobile robot trajectory tracking control : 1st and 2nd order sliding modes applied to a compensated inverse dynamics
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In this paper, a trajectory tracking control for a nonholonomic wheeled mobile robot based on the compensated inverse dynamics approach combined with sliding mode control strategies is investigated. The main advantages of using sliding mode control are

Robust trajectory tracking control of underactuated underwater vehicle subject to uncertainties
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ABSTRACT A composite robust control scheme is proposed by combining a sliding mode controller with an adaptive fuzzy control algorithm to control a 3-DOF underactuated underwater vehicle with model parameter perturbations and environmental disturbances

Adaptive trajectory tracking control of wheeled mobile robots with nonholonomic constraint
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A mobile robot is one of the well-known nonholonomic systems. In this paper, a new adaptive tracking controller for the kinematic model of a nonholonomic mobile robot with unknown parameters is proposed. Stability of the rule is proved through the use of a


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