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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 ...
Exploring dynamics in living cells by tracking single particles
(Springer, 2007-05-25)
In the last years, significant advances in microscopy techniques and the introduction of a novel technology to label living cells with genetically encoded fluorescent proteins revolutionized the field of Cell Biology. Our ...
Nonlinear Trajectory Tracking Control for Marine Vessels with Additive Uncertainties
(Kaunas University of Technology, 2018-02)
The paper presents a nonlinear control law for a marine vessel to track a reference trajectory. In the wake of theresults obtained in [19], an integrative approach is incorporated in the linear algebra methodology in order ...
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 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 ...
Trajectory tracking of a quadrotor using sliding mode control
(IEEE COMPUTER SOCIETY, 2016-05-01)
This paper presents the design of a sliding mode control (SMC) for trajectory tracking of an unmanned aerial vehicle (UAV), quadrotor. A simplified model of the quadrotor is used for the controller design. The robustness ...
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 ...
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 ...
Trajectory Tracking Control of a PVTOL Aircraft Based on Linear Algebra Theory
(Wiley, 2014-11)
In this work, a trajectory tracking control design is proposed for the planar vertical takeoff and landing (PVTOL) aircraft using linear algebra theory. The resulting control law is implemented easily since the equation ...