Buscar
Mostrando ítems 1-10 de 966
A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels
(Chinese Automatic Control Society, 2014-09)
This paper presents a path following control design for an autonomous surface vessel. The boat considered presents three degrees of freedom being driven by two independent propellers placed at its stern and is represented ...
Path following for unmanned helicopter: An approach on energy autonomy improvement
(Kaunas University of Technology, 2016-03)
In the last decades, research efforts related to Unmanned Aerial Vehicles (UAV) have grown substantially in terms of control stabilization and navigation strategies. However, the energy available on board is finite and ...
A Robust Adaptive Path-Following Controller for a Robotic Wheelchair
(Springer, 2013-06)
This article proposes a path-following controller for robotic wheelchairs (RW) used to transport people suffering of severe muscular diseases, taking into account velocity bounds and dynamic effects. A parameterized dynamic ...
Model Predictive Path Following and Trajectory Tracking Control using Artificial Variables for Constrained Vehicles
(Institute of Electrical and Electronics Engineers, 2019)
In this article, the path following and trajectorytracking problems for constrained vehicles are tackled by meansof a unified Model Predictive Control strategy. State and inputconstrains are taken into account, and additional ...
Model Predictive Periodic Output Path Following
(Asociación Argentina de Control Automático, 2020)
In this paper, a new model predictive controller forpath following of periodic references is proposed. This controllercombines trajectory planning and tracking stages in a singleoptimization problem for a given periodic ...
Sliding mode reference conditioning for path following applied to an AUV
(International Federation of Automatic Control, 2016-10)
This work presents a dynamic model for an autonomous underwater vehicle (AUV), a validation of this model together with the simulator obtained from its application and an implementation of sliding mode reference conditioning ...
Stable Path-Following Control for a Quadrotor Helicopter Considering Energy Consumption
(Institute of Electrical and Electronics Engineers, 2017-07)
A substantial interest in aerial robots has grown in recent years. However, the energetic cost of flying is one of the key challenges nowadays. Rotorcrafts are heavier-than-air flying machines that use lift generated by ...
A Real-Time Path-Planning Algorithm based on Receding Horizon Techniques
(Springer, 2017-11)
In this article we present a real-time path-planning algorithm that can be used to generate optimal and feasible paths for any kind of unmanned vehicle (UV). The proposed algorithm is based on the use of a simplified ...