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Transactions of Nanjing University of Aeronautics and Astronautics 2021年第6期38卷 937-947页

作者： JIANG Gaoyang WANG Hongyong College of Air Traffic Management Civil Aviation University of ChinaTianjin 300300P.R.China Tianjin Key Laboratory for Air Traffic Operation Planning and Safety Technology Tianjin 300300P.R.China

A point-to-point iterative learning control method with the current-cycle feedback is proposed to enable aircraft to achieve an accurate four-dimensional(4D) trajectory tracking. To this end,the 4D trajectory tracking control problem is formulated into a point-to-point tracking control issue with an external disturbance. Then,the optimal point-to-point iterative learning control law is derived based on the successive projection method. Further,the current-cycle feedback error is added to the control law,so that the tracking error is reduced in both time and iteration domains. Finally,a numerical simulation is carried out using the kinematic model of an unmanned aerial vehicle and 4D trajectory data. Obtained results demonstrate that the proposed method can quickly reduce the trajectory tracking error even in the presence of gust interferences. Compared with the commonly used average velocity method and the velocity correction method,the proposed method makes full use of the past and current running data,and can continuously improve the accuracy of 4D trajectory tracking with the repetitive operation of aircraft between city pairs.

关键词： four-dimentional(4D)trajectory trajectory tracking iterative learning control trajectory-based operation controlled time of arrival

Neural Network Based Robust Controller for trajectory tracking of Underwater Vehicles

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China Ocean Engineering 2007年第2期21卷 281-292页

作者：罗伟林邹早建 School of Naval Architecture Ocean and Civil EngineeringShanghai Jiao Tong University

A robust neural network controller （NNC） is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combination with neural network identification. Modeling errors and environmental disturbances are considered in the mathematical model. A twolayer neural network is introduced to compensate the modeling errors, while H∞ control strategy is used to achieve the L2-gain performance. The uniformly ultimately bounded （UUB） stabilities of tracking errors and NN weights are guaran- teed through the proposed controller. An on-line NN weights tuning algorithm is also propesed. Good performances of the tracking control system are illustrated bv the results of numerical simulations.

关键词： underwater vehicle trajectory tracking robust control neural network

Mu-based trajectory tracking control for a quad-rotor UAV

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Control Theory and Technology 2022年第4期20卷 536-554页

作者： Abdallah Hossam Ayman El-Badawy Mechatronics Engineering Department German University in Cairo5th SettlementNew CairoCairo 11835Egypt

In this paper,the design and application of a robust mu-synthesis-based controller for quad-rotor trajectory tracking are *** proposed design approach guarantees robust performance over a weakly nonlinear range of operation of the quad-rotor,which is a practical range that suits various *** controller considers different structured and unstructured uncertainties,such as unmodeled dynamics and perturbation in the *** controller also provides robustness against external disturbances such as wind gusts and wind *** proposed controller is fixed and linear;therefore,it has a very low computational ***,the controller meets all design specifications without *** validate this control strategy,the proposed approach is compared to a linear quadratic regulator(LQR)controller using a high-fidelity quad-rotor simulation *** addition,the experimental results presented show the validity of the proposed control strategy.

关键词： Mu-synthesis Robust control H-infinity trajectory tracking

A FUZZY UNCERTAINTY COMPENSATOR FOR MANIPULATOR trajectory tracking

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Chinese Journal of Mechanical Engineering 2003年第1期16卷 17-20页

作者： ChenWuwei JamesKMills 等 SchoolofMechanicalandAutomotiveEngineering HefeiUniversityofTechnologyHefei230009China DepartmentofMechanicalandIndustrialEngineering UniversityofToronto

A novel fuzzy logic compensating (FLC) scheme is proposed to enhance theconventional computed-torque control (CTC) structure of manipulators The control scheme is based onthe combination of a classical CTC and FLC, and the resulting control scheme has a simple structurewith improved robustness. Further improvement of the performance of the FLC scheme is achievedthrough automatic tuning of a weight parameter a leading to a self-tuning fuzzy logic compensator,so the system uncertainty can be compensated very well. By taking into account the full nonlinearnature of the robotic dynamics, the overall closed-loop system is shown to be asymptotically *** results demonstrate the effectiveness of the computed torque and fuzzy compensationscheme to control a manipulator during a trajectory tracking task.

关键词： Manipulator trajectory tracking Fuzzy compensator

PD-based trajectory tracking control in automatic cell injection system

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控制理论与应用（英文版） 2013年第2期11卷 207-214页

作者： Wenkang XU Chenxiao CAI Yun ZOU School of Automation Nanjing University of Science and Technology

trajectory tracking technology has been the focus of industrial manipulatory applications for many years, and its research has been found in micromanipulation in bioengineering recently. In this paper, a hybrid vision and force control method is applied to the automatic cell injection. The three-dimensional cell injection process involves the trajectory tracking in free space and the force control in contact space. A PD plus feedforward compensation control method is applied to the trajectory tracking in 3D space. Further, a PD-based robust controller is introduced into trajectory tracking while the systemic uncertainty of the cell injection is additionally considered. Both of the two control methods are theoretically proved to be exponential convergent. Finally, the effectiveness of the proposed method is verified as compared with other control methods by its application to trajectory tracking problem.

关键词： Cell injection trajectory tracking PD-based robust control

Nonlinear model predictive control for trajectory tracking of quadrotors using Lyapunov techniques

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Science China(Information Sciences) 2022年第6期65卷 269-270页

作者： Dong WANG Quan PAN Jinwen HU Chunhui ZHAO School of Automation Northwestern Polytechnical University

Dear editor,In recent years, the research on trajectory tracking and collision avoidance control of quadrotor unmanned aerial vehicles(UAVs) has gained considerable attention [1, 2]. Since quadrotor UAVs are used exte... 详细信息

关键词： trajectory tracking obstacle avoidance input constraints commercial quadrotors nonlinear model predictive control

Adaptive trajectory tracking controller design for a quadrotor UAV with payload variation

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International Journal of Intelligent Computing and Cybernetics 2018年第4期11卷 496-510页

作者： Shuai An Suozhong Yuan Huadong Li Department of Automation College of Automation EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina

Purpose-The purpose of this paper is to enhance the quadrotor’s capability of short-distance delivery to satisfy the large demand for quadrotor,which is used for goods distribution in huge warehouses,under time-varying payload and external wind ***/methodology/approach-A trajectory tracking controller design based on the combination of an adaptive sliding mode control(ASMC)method and the active disturbance rejection control(ADRC)technique is ***,an inner-outer loop control system structure is ***–Simulation results of different trajectory tracking verify the effectiveness and robustness of the proposed tracking control method under various conditions,including parameter uncertainty and external wind *** proposed control strategy ensures that quadrotor UAV is capable of tracking linear and spiral trajectory well whether it loads or unloads goods in the presence of the external wind ***/value-The proposed method of designing a trajectory tracking controller is based on an integral ADRC and ASMC scheme so as to deal with the trajectory tracking problem for a quadrotor with payload variation.

关键词： trajectory tracking Active disturbance rejection control Adaptive sliding mode control Quadrotor UAV

Data Driven Model-Free Adaptive Control Method for Quadrotor trajectory tracking Based on Improved Sliding Mode Algorithm

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Journal of Shanghai Jiaotong university(Science) 2022年第6期27卷 790-798页

作者： YUAN DONGDONG WANG YANKAI School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China

In order to solve the problems of dynamic modeling and complicated parameters identification of trajectory tracking control of the quadrotor,a data driven model-free adaptive control method based on the improved sliding mode control(ISMC)algorithm is designed,which does not depend on the precise dynamic model of the *** design of the general sliding mode control(SMC)algorithm depends on the mathematical model of the quadrotor and has chattering *** this paper,according to the dynamic characteristics of the quadrotor,an adaptive update law is introduced and a saturation function is used to improve the *** proposed control strategy has an inner and an outer loop control *** outer loop position control provides the required reference attitude angle for the inner *** inner loop attitude control ensures rapid convergence of the attitude *** effectiveness and feasibility of the algorithm are verified by mathematical *** mathematical simulation results show that the designed model-free adaptive control method of the quadrotor is effective,and it can effectively realize the trajectory tracking control of the *** design of the controller does not depend on the kinematic and dynamic models of the unmanned aerial vehicle(UAV),and has high control accuracy,stability,and robustness.

关键词： quadrotor trajectory tracking improved sliding mode control(ISMC) data driven model-free adaptive control

Data-driven iterative learning trajectory tracking control for wheeled mobile robot under constraint of velocity saturation

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IET Cyber-Systems and Robotics 2023年第2期5卷 37-47页

作者： Xiaodong Bu Xisheng Dai Rui Hou The School of Automation Guangxi University of Science and TechnologyLiuzhouChina The Department of Automation College of Mechatronics Engineering and AutomationShanghai UniversityShanghaiChina The School of Electrical Engineering&Automation Henan Polytechnic UniversityJiaozuoChina

Considering the wheeled mobile robot(WMR)tracking problem with velocity saturation,we developed a data‐driven iterative learning double loop control method with ***,the authors designed an outer loop controller to provide virtual velocity for the inner loop according to the position and pose tracking error of the WMR kinematic ***,the authors employed dynamic linearisation to transform the dynamic model into an online data‐driven model along the iterative *** on the measured input and output data of the dynamic model,the authors identified the parameters of the inner loop *** authors considered the velocity saturation constraints;we adjusted the output velocity of the WMR online,providing effective solutions to the problem of velocity saltation and the saturation constraint in the tracking ***,the inner loop controller only uses the output data and input of the dynamic model,which not only enables the reliable control of WMR trajectory tracking,but also avoids the influence of inaccurate model identification processes on the tracking *** authors analysed the algorithm's convergence in theory,and the results show that the tracking errors of position,angle and velocity can converge to zero in the iterative ***,the authors used a simulation to demonstrate the effectiveness of the algorithm.

关键词： data-driven control dynamic model iterative learning control trajectory tracking velocity saturation wheeled mobile robot

Event-triggered adaptive finite time trajectory tracking control for an under actuated vessel considering unknown time-varying disturbances

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Transportation Safety and Environment 2023年第4期5卷 155-163页

作者： Qiwen Wang Qiang Zhang Yugang Wang Yancai Hu Shaoyi Guo School of Navigation and Shipping Shandong Jiaotong UniversityHexing Road 1508Weihai 264200ShandongChina

This paper aims to solve the finite-time trajectory tracking problem of underactuated surface ships under the influence of dynamic uncertainty,unknown external time-varying interference and limited communication *** event-triggered robust adaptive finite-time trajectory tracking control method for underactuated ships is designed by combining the existing trajectory tracking control methods and engineering needs in actual *** can obviously improve the tracking accuracy of the ship,and complete the tracking task safely and *** scheme transforms the composite uncertain vector synthesized by uncertain parameters and external disturbances into a linear parameterized ***,considering the limitation of communication resources,a relative threshold event triggering mechanism is introduced to further extend the triggering time interval on the basis of the fixed threshold triggering ***,an event-triggered robust adaptive finite-time trajectory tracking control scheme is designed for underactuated ships,and a rigorous stability proof is provided through Lyapunov stability *** experiment is carried out in MATLAB and the results show that the finite-time trajectory tracking control scheme proposed in this paper can effectively solve the problems of dynamic *** time-varying external interference and limitation of communication *** paper can provide theoretical support for the autonomous navigation of intelligent ships.

关键词： surface vessel limited time event triggering trajectory tracking