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Wyszukujesz frazę "trajectory tracking" wg kryterium: Temat

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    Wyświetlanie 1-4 z 4
    Tytuł:
    Two Observer-Based Tracking Algorithms for a Unicycle Mobile Robot
    Autorzy:
    Jakubiak, J.
    Lefeber, E.
    Tchoń, K.
    Nijmeijer, H.
    Powiązania:
    https://bibliotekanauki.pl/articles/908499.pdf
    Data publikacji:
    2002
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    robotyka
    observer
    trajectory tracking
    mobile robot
    Opis:
    A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2002, 12, 4; 513-522
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system
    Autorzy:
    Michałek, M.
    Dutkiewicz, P.
    Kiełczewski, M.
    Pazderski, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/929982.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    robot mobilny
    śledzenie trajektorii
    pole wektorowe
    differentially driven mobile robot
    skid-slip compensation
    trajectory tracking
    vector fields
    Opis:
    The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2009, 19, 4; 547-559
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Kinematically optimal robust control of redundant manipulators
    Autorzy:
    Galicki, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/266099.pdf
    Data publikacji:
    2017
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    redundant robotic manipulator
    task space trajectory tracking
    robust optimal finite-time control
    Lyapunov stability
    manipulator
    przestrzeń robocza manipulatora
    Stabilność Lapunowa
    Opis:
    This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.
    Źródło:
    International Journal of Applied Mechanics and Engineering; 2017, 22, 4; 839-865
    1734-4492
    2353-9003
    Pojawia się w:
    International Journal of Applied Mechanics and Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Finite horizon nonlinear predictive control by the Taylor approximation: Application to robot tracking trajectory
    Autorzy:
    Hedjar, R.
    Toumi, R.
    Boucher, P.
    Dumur, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/908454.pdf
    Data publikacji:
    2005
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    układ nieliniowy
    układ ciągły
    sterowanie predykcyjne
    aproksymacja Taylora
    śledzenie trajektorii
    nonlinear continuous time predictive control
    Taylor approximation
    tracking trajectory and robot
    Opis:
    In industrial control systems, practical interest is driven by the fact that today’s processes need to be operated under tighter performance specifications. Often these demands can only be met when process nonlinearities are explicitly considered in the controller. Nonlinear predictive control, the extension of well-established linear predictive control to nonlinear systems, appears to be a well-suited approach for this kind of problems. In this paper, an optimal nonlinear predictive control structure, which provides asymptotic tracking of smooth reference trajectories, is presented. The controller is based on a finite–horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is that its implementation does not need to perform on-line optimization, and asymptotic tracking of smooth reference signal is guaranteed. An integral action is used to increase the robustness of the closed-loop system with respect to uncertainties and parameters variations. The proposed control scheme is first applied to planning motions problem of a mobile robot and, afterwards, to the trajectory tracking problem of a rigid link manipulator. Simulation results are performed to validate the tracking performance of the proposed controller.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2005, 15, 4; 527-540
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-4 z 4

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