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检索条件"主题词=Trajectory tracking"

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Experimental Validation of Fuzzy PID Control of Flexible Joint System in Presence of Uncertainties

Experimental Validation of Fuzzy PID Control of Flexible Joi...

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第36届中国控制会议

作者： Hazrat Bilal Wei Yao Yu Guo Yifei Wu Jian Guo School of Automation Nanjing University of Science and Technology

ISBN: (纸本)9781538629185

In this paper,a robust fuzzy-tuned PID controller is proposed for the trajectory tracking and vibration control of a flexible joint manipulator system（FJMS） with parametric *** joint manipulators are widely used in industry due to their flexibility,light in weight and fast response,low cost,and low energy *** dynamic modeling via Euler-Lagrange equation for a single link flexible joint manipulator system（FJMS） is presented *** analyzing the characteristics of the high order linear system,the Fuzzy-Tuned PID control strategy is *** parameters of classical PID controller are updated by the intelligent method of fuzzy *** the adaptivity to the parametric uncertainties from the system stiffness and moment of inertia,the contrived approach provides more efficient results compared to existing techniques in terms of vibration suppressions,time response,and ***,the effectiveness of the controller is corroborated through multiple experiments on the QUANSER’s flexible joint manipulator system（FJMS）.

关键词： Fuzzy Tuned PID Control Vibration Suppressions trajectory tracking Flexible Joint Manipulator

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Linear active disturbance rejection control for mobile robot with input saturation

Linear active disturbance rejection control for mobile robot...

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第37届中国控制会议

作者： Shi Wuxi Yan Junxiong Luo Rui School of Electrical Engineering and Automation Tianjin Polytechnic University

In this paper the linear active disturbance rejection control( LADRC) method is presented for mobile robot with input saturation, In this method, the auxiliary kinematic controller and dynamics controller are proposed. Firstly, based on the kinematic model of the robot, the auxiliary kinematic controller is designed to make the auxiliary speed asymptotically converge to the desired speed. Then based on dynamics model, the error compensator is designed to remove the influence of input saturation by using the linear ADRC, the purpose of anti saturation is achieved by adjusting the parameters of saturation actuator, and the actual speed of the robot converges to the auxiliary speed, which can make the tracking error asymptotically converge to zero. The effectiveness of this method is verified by simulation example.

关键词： Mobile robot trajectory tracking Linear active disturbance rejection control Input saturation

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A Novel Real-time Motion Control Approach for Omni-directional Mobile Robots

A Novel Real-time Motion Control Approach for Omni-direction...

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第37届中国控制会议

作者： Junkai Ren Wei Dai Kuangye Xie Junhao Xiao Huimin Lu National University of Defense Technology Huazhong University of Science and Technology

In highly dynamic environments, mobile robots are required to perform fast, accurate and stable tracking of high-speed trajectories. However, most research focus on the control algorithm for high-speed tracking, and rare works are reported which specifically deal with the communication problem and the structure of control system. This paper proposes a novel composed approach to improve the motion control performance and real-time reaction ability of mobile robot. First and foremost is to organize a hierarchical control structure for the robot motion control system. In this structure, the PD controller for trajectory tracking is improved based on the behavior of the robot. Secondly, in order to improve the communication speed, Process Data Object（PDO） is chosen as the communication object in CANopen communication protocol between Ether CAT and Elmo（motor controller）. In the end, the pose estimation part of the robot is improved, and motor encoder data are used as feedback signal to adjust the robot’s localization directly, thus providing more precise pose information. The improved motion control system illustrated in this paper was tested on a real omni-directional soccer robot, and the experimental results show that the robot can track high-speed trajectories effectively with small tracking errors and tiny communication time.

关键词： Motion Control trajectory tracking High-speed Mobile Robot

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Fractional-Order Nonsingular Terminal Sliding Mode Control of Uncertain Robot Neural Network

Fractional-Order Nonsingular Terminal Sliding Mode Control o...

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第32届中国控制与决策会议

作者： Weihai Zhang Jianguo Guo Zunjie Yu College of Electrical Engineering and Automation Shandong University of Science and Technology College of Mathematics and Systems Science Shandong University of Science and Technology

Aiming at the problem of low tracking accuracy and slow convergence speed of robot trajectory tracking control system with uncertainties and external disturbances,an adaptive fractional-order fast terminal sliding mode controller based on radial basis function（RBF） neural network is *** of all,the method adopts nonsingular fast terminal sliding mode control,which makes the system converge to the equilibrium point in a limited time,and uses the fractional-order controller to improve the tracking performance of the ***,we use RBF neural network to approximate unknown non-linear function of the system,and combine with adaptive compensation mechanism to realize model-free *** stability of the closed-loop system is proved by the Lyapunov stability ***,taking the manipulator as an example to verify the *** simulation results show that the proposed method can improve the tracking performance and system convergence speed,enhance the robustness to modeling errors and external disturbances,and weaken the chattering generated by the system.

关键词： Uncertain Robot Fractional-Order Sliding Mode Control trajectory tracking RBF Neural Network

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Double closed-loop integral sliding mode control of wheeled mobile robots with disturbances

Double closed-loop integral sliding mode control of wheeled ...

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第三十九届中国控制会议

作者： Tianqi Wang Li Li Zhichen Li Xijuan Wang Institute of Electrical Engineering Yanshan University

In this paper, the trajectory tracking problem is considered for a non-holonomic wheeled mobile robot（WMR） with non-random and random disturbances. A disturbance observer with Kalman filter（DKF） is designed to observe the velocity and the non-random disturbance of the system. An integral sliding mode controller is presented for asymptotically stabilizing the WMR to a desired trajectory. It is shown that the proposed scheme is robust to system perturbations and measurement noise. Simulation results confirm the validity of accurate tracking capability and the robust performance of the proposed scheme.

关键词： Wheeled mobile robot disturbance observer with Kalman filter(DKF) integral sliding mode trajectory tracking

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Nonlinear tracking Control for Quadrotor Aircraft with Disturbance Observer

Nonlinear Tracking Control for Quadrotor Aircraft with Distu...

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第30届中国控制与决策会议

作者： HOU Shun-xiang ZHANG Xing-guo Department of Information Engineering Zhejiang College of Security Technology Department of Science and Technology Nanchang Institute of Science and Technology

In order to solve the problem of trajectory tracking control of quad-rotor aircraft with uncertain disturbances, a tracking strategy using an extended state observer to estimate the disturbance in the system was proposed. The strategy is designed by the sliding mode controller considering the estimation to overcome the uncertainty of the model and the disturbance of external uncertainties, and he tracking error of the system are ultimately bounded under the control law. The stability of the controller system designed by the above method is verified by Lyapunov stability theory. Simulation results show that the controller can realize trajectory tracking control of aircraft.

关键词： quad-rotor aircraft disturbance observer sliding mode control backstepping control trajectory tracking

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Output regulation of Euler-Lagrange systems based on error and velocity feedback

Output regulation of Euler-Lagrange systems based on error a...

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第三十九届中国控制会议

作者： Haiwen Wu Dabo Xu Bayu Jayawardhana Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen School of Automation Nanjing University of Science and Technology

This paper considers robust output regulation of uncertain Euler-Lagrange（EL） systems by error（or relative position）and velocity feedback. We shall develop an adaptive internal model approach for the problem. Particularly, the proposed control law does not require apriori knowledge of reference signal and its derivatives, which are commonly assumed in literature. It enables a self-learning mechanism of the closed-loop EL systems where the adaptive internal model-based controller is able to learn the desired trajectories and adapt itself to the uncertain plant parameters. We also present a numerical example to illustrate the proposed result.

关键词： Euler-Lagrange systems trajectory tracking output regulation internal model principle certainty equivalence principle

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Adaptive Output Feedback tracking Controller for Underactuated Surface vessel with Unmeasurable Orientation

Adaptive Output Feedback Tracking Controller for Underactuat...

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第三十九届中国控制会议

作者： Mingxuan Zheng Baoli Ma The Second Research Division School of Automation Science and Electrical Engineering Beihang University

The work addresses the trajectory tracking control problem of surface vessel without yaw angle measurement. A new adaptive output feedback controller is proposed ensuring that position error converges to zero asymptotically. The new proposed control law can guarantee the independence of position tracking error on convergence of yaw angle estimation error with bounded sway velocity and system inputes. The design of proposed controller is based on unknown yaw angle, while previous controller design was based on unknown speed. Simulations are presented to verify the effectiveness of the proposed controller.

关键词： Underactuated Surface Vessel Output Feedback Control trajectory tracking Unmeasured Yaw Angle

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Design and implementation of an unmanned boat visual target tracking system

Design and implementation of an unmanned boat visual target ...

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第32届中国控制与决策会议

作者： Bowen Zeng Yang Song Chong Liu College of Automation Harbin Engineering University Engineering Training Center Harbin Engineering University China Shipbuilding Industry System Engineering Research Institute

This paper describes how to detect the water surface targets,obtain effective tracking information,and control the unmanned boat based on the information while the unmanned boat equipped with Raspberry Pi 3 *** structure of the image processing part and the control part of the unmanned boat is mainly *** image processing part adopts the Raspberry Pi CSI interface camera to collect the data,uses the CamShift（CS） algorithm to perform target tracking,obtains the angular deviation and distance between the target and the unmanned boat through conversion,and sends the information to the DSP *** the unmanned boat control part,the unmanned boat motion model is identified through experiments,and the PID controller is ***,the fixed target and the moving target are tracked through the pool experiment,and the rationality of the system is verified.

关键词： Image processing DSP trajectory tracking

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A Nonlinear Switching Controllerfor a Ball-and-Plate System

A Nonlinear Switching Controllerfor a Ball-and-Plate System

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第二十四届中国控制会议

作者： Ming Bai~(1,2), Yantao Tian~1, Jintao Su~1, Jianbo Zhao~1(1. Colle ge of Communication Engineering, Jilin University, Changchun 130025 2. Academy of Coal Science, Changchun 130012)

＜正＞ The ball-and-plate system is a typical multi-variable nonlinear plant, which is used as a standard benchmark to inspect diverse control schemes. Firstly a ball-and-plate system and its mathematic model are introduced in this paper. Then a nonlinear switching control scheme is proposed for trajectory tracking of a ball on a plate after the nonlinear control analysis of the ball-and-plate system. The simulation results have shown that the scheme can accomplish the task of trajectory tracking effectively.

关键词： ball-and-plate system trajectory tracking switching control nonlinear control analysis

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