Now showing items 1-10 of 159
Trajectory tracking of underactuated surface vessels: a linear algebra approach
(Institute of Electrical and Electronics Engineers, 2013-07)
This brief presents the design of a controller that allows an underactuated vessel to track a reference trajectory in the x−y plane. A trajectory tracking controller designed originally for robotic systems is applied for ...
Linear algebra and optimization based controller design for trajectory tracking of typical chemical process
This paper presents a new controller design to tracking trajectory of a typical chemical process. The plant model is represented by numerical methods and, from this approach, the control actions for an optimal operation ...
A proposed neural control for the trajectory tracking of a nonholonomic mobile robot with disturbances
In this paper, a trajectory tracking control problem for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and ...
Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots
(Cambridge University Press, 2014-05)
This paper is a continuation of a previous work of the authors, Scaglia et al., 1. A method is presented to choose the controller parameters such that, the values of the control actions do not exceed the maximum allowable ...
A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation
(Cambridge University Press, 2016-11)
This paper addresses the problem of trajectory tracking control in mobile robots under velocity limitations. Following the results reported in ref. , the problem of trajectory tracking considering control actions ...
Trajectory Tracking Controller Based on Linear Algebra: a case study in underactuated surface vessels
(Romanian Society of Control Engineering and Technical Informatics, 2013-12)
The main difficulty in the control of an underactuated system is that the system has more outputs to be controlled than the number of independent inputs. In this paper a novel trajectory tracking controller designed ...
Trajectory tracking of a mini four-rotor helicopter in dynamic environments - a linear algebra approach
(Cambridge University Press, 2014-04)
This paper presents the design of a controller that allows a four-rotor helicopter to track a desired trajectory in 3D space. To this aim, a dynamic model obtained from Euler-Lagrange equations describes the robot. This ...
Trajectory tracking of a quadrotor using sliding mode control
(IEEE COMPUTER SOCIETY, 2018)
Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
(Pergamon-Elsevier Science Ltd, 2015-12)
The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model ...