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    Wyświetlanie 1-27 z 27
    Tytuł:
    Modified trajectory tracking guidance for artillery rocket
    Autorzy:
    Ożóg, Rafał Józef
    Jacewicz, Mariusz Adam
    Głębocki, Robert
    Powiązania:
    https://bibliotekanauki.pl/articles/2055031.pdf
    Data publikacji:
    2020
    Wydawca:
    Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
    Tematy:
    trajectory tracking
    guidance
    lateral thruster
    Opis:
    This paper contributes to a modified guidance scheme based on a trajectory tracking method which is dedicated for an artillery rocket with a finite set of single use solid propellant side thrusters. Frequency modulation of pulses was used to achieve effective firing logic. The proposed control law is applicable in the last phase of flight when the rocket reaches the vertex of the trajectory. A correction engine activation sequence was chosen in such a way that possibility of rocket axial unbalance is minimized due to motors firing. Numerical simulation results indicate that significant dispersion reduction was achieved and the number of activated side rocket thrusters is minimized.
    Źródło:
    Journal of Theoretical and Applied Mechanics; 2020, 58, 3; 611--622
    1429-2955
    Pojawia się w:
    Journal of Theoretical and Applied Mechanics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    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:
    Optimal sliding control of mobile manipulators
    Autorzy:
    Galicki, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/201159.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    mobile manipulator
    trajectory tracking
    finite time control
    Opis:
    The paper adresses optimal control problem of mobile manipulators. Dynamic equations of those mechanisms are assuemd herein to be uncertain. Moreover, unbounded disturbances act on the mobile manipulator whose end-effector tracks a desired (reference) trajectory given in a task (Certesian) space. A compytionally efficient class of two-stage cascaded (hierarchchical) control algotithms based on both the transpose Jacobian matrix and transpose actuation matrix, has been proposed. The offered control laws involve to kinds of non-singular terminal sliding mode (TSM) manifolds, which were also introduced in the paper. The proposed class of cooperating sub-controllers is shown to be finite time stable be fulfilment of practically reasonable assumptions. The performance of the proposed control strategies is illustated on an exemplary mobile manipulator whose end-effector tracks desired trajectory.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 4; 777-788
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory tracking control with obstacle avoidance capability for unicycle-like mobile robot
    Autorzy:
    Kowalczyk, W.
    Michałek, M.
    Kozłowski, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/201611.pdf
    Data publikacji:
    2012
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    mobile robot
    trajectory tracking
    robot control
    collision avoidance
    Opis:
    In this paper the trajectory tracking control algorithm with obstacle avoidance capability is presented. As a robot gets into a neighborhood of the obstacle, the collision avoidance behavior is turned on. It is implemented using the artificial potential function (APF) that increases to infinity as the robot approaches a boundary of the obstacle. This feature guarantees collision avoidance. As avoidance behavior is active only in the neighborhood of the obstacle it does not affect the motion when there is no risk of the collision. Authors show that trajectory of the robot converges to desired one when a robot is out of the APF area. Due to a local characteristic of the APF, the implementation of the algorithm of the robot that uses only on-board sensors is possible. The stability proof is presented for both a near obstacle and obstacle-free areas. Effectiveness of the algorithm is illustrated with experiments on a real robot in an environment with static circle-shaped obstacles.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 537-546
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory reproduction and trajectory tracking problem for the nonholonomic systems
    Autorzy:
    Ratajczak, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/200125.pdf
    Data publikacji:
    2016
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    nieholonomiczny układ
    śledzenie trajektorii
    trajectory reproduction
    trajectory tracking
    nonholonomic system
    Opis:
    This paper introduces a new algorithm of trajectory reproduction and trajectory tracking for nonholonomic systems. The endogenous configuration space approach is employed as a guideline in the algorithm derivation. The derivation uses a trajectory reproduction error, which is an integral of the difference between the resultant trajectory and the desired trajectory over the motion horizon. Such a definition of the error allows to solve both the trajectory reproduction as well as the trajectory tracking problem. Considerable attention in the paper has been paid to the implementation aspects of the algorithm. The nonparametric approach is used together with a higher order of the integration method. The algorithm efficiency is illustrated with computer simulations accomplished for two nonholonomic systems: the dynamics of the double pendulum with a passive joint, and the kinematics of the unicycle.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 63-70
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Research on the ACC Autonomous Car
    Autorzy:
    Pozna, C.
    Troester, F.
    Powiązania:
    https://bibliotekanauki.pl/articles/384467.pdf
    Data publikacji:
    2007
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    autonomous car
    driving robot
    control system architecture
    trajectory tracking
    Opis:
    The aim of this paper is to present a general view about the autonomous driving researches made in the University of Applied Science Heilbronn, Germany. More exactly we will present aspects about our autonomous car design and construction. We will point out the original elements of our achievements: the driving robot construction and the control system structure design. This will be also the occasion to focus on the tactical level of the mentioned control system in order to present results on the trajectory tracking strategies.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2007, 1, 1; 32-40
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Non‐linear model‐based predictive control for trajectory tracking and control effort minimization in a smartphone‐based quadrotor
    Autorzy:
    García, Luis
    Rosero, Esteban
    Powiązania:
    https://bibliotekanauki.pl/articles/27314228.pdf
    Data publikacji:
    2022
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    quadrotor
    model-based predictive control
    smartphone
    trajectory tracking
    energy consumption
    Opis:
    In this paper, the design and implementation of a nonlinear model‐based predictive controller (NMPC) for predefined trajectory tracking and to minimize the control effort of a smartphone‐based quadrotor are developed. The optimal control actions are calculated in each iteration by means of an optimal control algorithm based on the non‐linear model of the quadrotor, considering some aerodynamic effects. Control algorithm implementation and simulation tests are executed on a smartphone using the CasADi framework. In addition, a technique for estimating the energy consumed based on control signals is presented. NMPC controller performance was compared with other works developed towards the con‐ trol of quadrotors, based on an H∞ controller and an LQI controller, and using three predefined trajectories, where the NMPC average tracking error was around 50% lower, and average estimated power and energy consumption slightly higher, with respect to the H∞ and LQI controllers.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 4; 13--18
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A self-tuning fuzzy PD controller for a wheeled mobile robot operating in the presence of faults
    Autorzy:
    Srebro, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/115515.pdf
    Data publikacji:
    2011
    Wydawca:
    Fundacja na Rzecz Młodych Naukowców
    Tematy:
    fuzzy controller
    mobile robot
    nonholonomic system
    trajectory tracking
    fault tolerance
    Opis:
    This paper presents a self-tuning fuzzy PD controller designed to improve a control strategy for a wheeled mobile robot. The dynamic model of a two-wheeled mobile robot was implemented in Matlab/Simulink environment. In this paper the trajectory tracking problem for a mobile robot in the presence of positioning system faults is considered in detail. Mamdani fuzzy reasoning is used to tune the value of proportional gain Kp and derivative gain Kd of a PD controller. A few simulations comparing the classical PD controller with self-tuning fuzzy PD are reported to show advantage of the designed self-tuning controller.
    Źródło:
    Challenges of Modern Technology; 2011, 2, 4; 11-20
    2082-2863
    2353-4419
    Pojawia się w:
    Challenges of Modern Technology
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Stiffness control of robot manipulators in the operational space using fuzzy mapping of dynamic functions
    Autorzy:
    Bertol, D. W.
    Barasuol, V.
    Martins, N. A.
    De Pieri, E. R.
    Powiązania:
    https://bibliotekanauki.pl/articles/971046.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    stiffness control
    fuzzy mapping
    robot manipulators
    operational space
    trajectory tracking
    Opis:
    In this paper a stiffness control strategy based on the fuzzy mapped nonlinear terms of the robot manipulator dynamic model is proposed. The proposed stiffness controller is evaluated on a research robot manipulator performing a task in the operational space. Tests attempted to achieve fast motion with reasonable accuracy associated with lower computational load compared to the non-fuzzy approach. The stability analysis is presented to conclude about the mapping error influence and to obtain precondition criteria for the gains adjustment to face the trajectory tracking problem. Simulation results that supported the implementation are presented, followed by experiments and results obtained. These tests are conducted on a robot manipulator with SCARA configuration to illustrate the feasibility of this strategy.
    Źródło:
    Control and Cybernetics; 2013, 42, 3; 639-661
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust continuous third-order finite time sliding mode controllers for exoskeleton robot
    Autorzy:
    Fellag, Ratiba
    Guiatni, Mohamed
    Hamerlain, Mustapha
    Achour, Noura
    Powiązania:
    https://bibliotekanauki.pl/articles/1845025.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    exoskeleton robot
    higher order
    sliding control
    homogeneous
    robust
    trajectory tracking
    rehabilitation
    Opis:
    In this work, continuous third-order sliding mode controllers are presented to control a five degrees-of-freedom (5-DOF) exoskeleton robot. This latter is used in physiotherapy rehabilitation of upper extremities. The aspiration is to assist the movements of patients with severe motor limitations. The control objective is then to design adept controllers to follow desired trajectories smoothly and precisely. Accordingly, it is proposed, in this work, a class of homogeneous algorithms of sliding modes having finite-time convergence properties of the states. They provide continuous control signals and are robust regardless of non-modeled dynamics, uncertainties and external disturbances. A comparative study with a robust finite-time sliding mode controller proposed in literature is performed. Simulations are accomplished to investigate the efficacy of these algorithms and the obtained results are analyzed.
    Źródło:
    Archive of Mechanical Engineering; 2021, LXVIII, 4; 395-414
    0004-0738
    Pojawia się w:
    Archive of Mechanical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A Time optimal path planning for trajectory tracking of wheeled mobile robots
    Autorzy:
    Vivekananthan, R.
    Karunamoorthy, L.
    Powiązania:
    https://bibliotekanauki.pl/articles/384765.pdf
    Data publikacji:
    2011
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    wheeled robot
    time optimal
    trajectory tracking
    motion control
    fuzzy logic algorithm
    Matlab environment
    Opis:
    Avariety of approaches for trajectory tracking control of wheeled mobile robots have been implemented. This paper presents a model for a time optimal motion control based on fuzzy logic algorithm for a three wheeled nonholonomic mobile robot with desired function. Simplified kinematic equations of a differentially driven robot are designed to follow the path with evaluated linear and angular velocities. Here, the proposed kinematic model is based on a simple geometric approach for getting the desired position and orientation. The speeds are varied depending on the variations in the path and on the posture of the robot. The robot is subjected to move in a constrained workspace. The control architecture was developed based on fuzzy logic algorithm to obtain time optimal motion control of robot trajectory tracking. The kinematic model was done on Matlab software environment and profound impact on the ability of the nonholonomic mobile robot to track the path was evaluated.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 2; 35-41
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust trajectory tracking control of underactuated surface vehicles with prescribed performance
    Autorzy:
    Wang, Shasha
    Tuo, Yulong
    Powiązania:
    https://bibliotekanauki.pl/articles/1573775.pdf
    Data publikacji:
    2020
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    robust sliding mode control
    prescribed performance
    guaranteed transient performance
    trajectory tracking
    underactuated surface vehicle
    Opis:
    In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying external disturbances. Firstly, to guarantee the transient and steadystate performance of the closed-loop system, the error transformation technique is presented. Further, the design of the prescribed performance function implements predefined tracking performance constraints, which eliminate the requirement for prior knowledge about the initial errors. Then, a Lyapunov stability synthesis shows that all closed-loop signals remain bounded and the tracking errors remain strictly within the predefined bounds. Finally, simulations and a comparative study are performed to illustrate the robustness and effectiveness of the proposed robust sliding mode control scheme.
    Źródło:
    Polish Maritime Research; 2020, 4; 148-156
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Event-triggered adaptive neural network trajectory tracking control for underactuated ships under uncertain disturbance
    Autorzy:
    Su, Wenxue
    Zhang, Qiang
    Liu, Yufeng
    Powiązania:
    https://bibliotekanauki.pl/articles/34611659.pdf
    Data publikacji:
    2023
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    event-triggered control
    underactuated marine surface vessels
    adaptive neural network
    trajectory tracking
    finite-time
    Opis:
    An adaptive neural network (NN) event-triggered trajectory tracking control scheme based on finite time convergence is proposed to address the problem of trajectory tracking control of underdriven surface ships. In this scheme, both NNs and minimum learning parameters (MLPS) are applied. The internal and external uncertainties are approximated by NNs. To reduce the computational complexity, MLPs are used in the proposed controller. An event-triggered technique is then incorporated into the control design to synthesise an adaptive NN-based event-triggered controller with finite-time convergence. Lyapunov theory is applied to prove that all signals are bounded in the tracking system of underactuated vessels, and to show that Zeno behavior can be avoided. The validity of this control scheme is determined based on simulation results, and comparisons with some alternative schemes are presented.
    Źródło:
    Polish Maritime Research; 2023, 3; 119-131
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Design of an adaptive fuzzy variable structure compensator for the nonholonomic mobile robot in trajectory tracking task
    Autorzy:
    Begnini, M.
    Bertol, W.
    Martins, N. A.
    Powiązania:
    https://bibliotekanauki.pl/articles/971054.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    nonholonomic mobile robot
    trajectory tracking
    variable structure control
    uncertainties and disturbances
    fuzzy compensator
    Lyapunov theory
    Opis:
    A robust adaptive kinematic control strategy, based on the methodology of variable structure control is considered in this paper. Because the dynamics of mobile robots is subject to uncertainties and disturbances, a fuzzy compensator is adopted to estimate them. In order to minimize the tracking errors and to attenuate the chattering phenomenon, an adaptation law for the fuzzy compensator is obtained by Lyapunov stability theory so as to asymptotically stabilize the control system as well as guarantee the convergence of the tracking errors. In terms of comparison with the boundary layer variable structure controller, simulations and experiments verify the feasibility and effectiveness of the proposed kinematic control strategy for the nonholonomic mobile robots under the incidence of uncertainties and disturbances.
    Źródło:
    Control and Cybernetics; 2018, 47, 3; 239-275
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Sterowanie autonomicznym pojazdem podwodnym o nazwie PAST z wykorzystaniem śledzenia trajektorii
    Trajectory Tracking Control of Autonomous Underwater Vehicle Called PAST
    Autorzy:
    Szymak, Piotr
    Kot, Rafał
    Powiązania:
    https://bibliotekanauki.pl/articles/2134960.pdf
    Data publikacji:
    2022
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    trajectory tracking
    high-level control
    autonomous underwater vehicle
    śledzenie trajektorii
    sterowanie wysokopoziomowe
    autonomiczny pojazd podwodny
    Opis:
    The increasing development of Autonomous Underwater Vehicles (AUVs) with varying levels of autonomy can be seen globally. The paper is devoted to the new AUV called PAST being developed and built within the Polish development project entitled „Development of the underwater autonomous transport system” (no. POIR.01.01.01-00-0893/20). Mainly, the paper focuses on high-level control of PAST AUV devoted to controlling along the desired trajectory. It demands a set of tuned controllers of advanced velocity, course, depth, and trim. The trajectory tracking algorithm should be implemented and verified for different trajectories set in practice. At the beginning of the article, an introduction to the research is inserted. Then, the following scientific issues are presented: the mathematical model of AUV motion, high-level control structure, and the trajectory tracking algorithm. Next, the results of numerical research in the Matlab environment are presented. In the end, the conclusions for future research are formulated.
    Na całym świecie można zaobserwować rosnący rozwój autonomicznych pojazdów podwodnych (AUV) o różnych poziomach autonomii. Artykuł poświęcony jest opracowywaniu i budowie nowego AUV o nazwie PAST w ramach polskiego projektu rozwojowego pt. „Rozwój podwodnego autonomicznego systemu transportowego” (nr POIR.01.01.01-00-0893/20). Artykuł koncentruje się głównie na wysokopoziomowym sterowaniu pojazdem PAST przeznaczonym do podążania wzdłuż pożądanej trajektorii. Wymaga to zaawansowanego zestawu dostrojonych kontrolerów prędkości, kursu, głębokości i trymu. Algorytm śledzenia trajektorii powinien być zaimplementowany i zweryfikowany dla różnych trajektorii wyznaczanych w praktyce. Na początku artykułu zamieszczone zostało wprowadzenie do badań. Następnie przedstawiono następujące zagadnienia naukowe: model matematyczny ruchu AUV, wysokopoziomową strukturę sterowania oraz algorytm śledzenia trajektorii. Następnie przedstawiono wyniki badań numerycznych w środowisku MATLAB. Na koniec formułowane są wnioski dla przyszłych badań.
    Źródło:
    Pomiary Automatyka Robotyka; 2022, 26, 3; 17--22
    1427-9126
    Pojawia się w:
    Pomiary Automatyka Robotyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory Tracking Control of a Mobile Robot with the ROS System
    Sterowanie w ruchu nadążnym robota mobilnego z systemem ROS
    Autorzy:
    Siwek, Michał
    Panasiuk, Jarosław
    Baranowski, Leszek
    Kaczmarek, Wojciech
    Borys, Szymon
    Powiązania:
    https://bibliotekanauki.pl/articles/2179957.pdf
    Data publikacji:
    2022
    Wydawca:
    Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
    Tematy:
    mobile robot
    ROS
    parametric dynamic model
    identification
    trajectory tracking
    robot mobilny
    model parametryczny
    identyfikacja
    śledzenie trajektorii
    Opis:
    This article provides a simulation and laboratory study of a control system for a two-wheeled differential-drive mobile robot with ROS system. The authors propose an approach to designing a control system based on a parametric model of the robot’s dynamics. The values of unknown parameters of the dynamic model have been determined by means of a Levenberg-Marguardt identification method. By comparing the desired trajectories with those obtained from simulation and laboratory tests, and based on errors analysis, the correctness of the model parameter identification process and the control system operation was then determined.
    W artykule przedstawiono badania symulacyjne i laboratoryjne systemu sterowania dwukołowym robotem mobilnym o napędzie różnicowym, z systemem ROS. Autorzy zaproponowali podejście projektowania systemu sterowania w oparciu o parametryczny model dynamiki robota. Wartości nieznanych parametrów modelu dynamiki wyznaczono przeprowadzając ich identyfikację metodą Levenberga-Marguardta. Następnie porównując trajektorie zadane z otrzymanymi na drodze badań symulacyjnych i laboratoryjnych, a także na podstawie analizy uchybów określono poprawność procesu identyfikacji parametrów modelu i działania systemu sterowania.
    Źródło:
    Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa; 2022, 13, 4 (50); 67--84
    2081-5891
    Pojawia się w:
    Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Modeling and control of a skid-steering mobile platform with coupled side wheels
    Autorzy:
    Tchoń, K.
    Zadarnowska, K.
    Juszkiewicz, Ł.
    Arent, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/953057.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    wheeled mobile platform
    dynamics
    motion planning
    trajectory tracking
    koła
    platforma mobilna
    dynamika
    planowanie ruchu
    śledzenie trajektorii
    Opis:
    This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 807-818
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    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:
    Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: proposed adaptive neural control
    Autorzy:
    Martins, N. A.
    Alencar, M.
    Lombardi, W. C.
    Bertol, D. W.
    Pieri, E. R.
    Filho, H. F.
    Powiązania:
    https://bibliotekanauki.pl/articles/971045.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    wheeled mobile robot
    trajectory tracking
    kinematic control
    variable structure control
    dynamic control
    sliding mode theory
    neural networks
    Lyapunov theory
    Opis:
    This paper analyses a trajectory tracking control problem for a wheeled mobile robot, Rusing integration of a kinematic neural controller (KNC) and a torque neural controller (TNC), in which both the kinematic and dynamic models contain uncertainties and disturbances. The proposed adaptive neural controller (PANC) is composed of the KNC and the TNC and is designed with use of a modeling technique of Gaussian radial basis function neural networks (RBFNNs). The KNC is a variable structure controller, based on the sliding mode theory and is applied to compensate for the disturbances of the wheeled mobile robot kinematics. The TNC is an inertia-based controller composed of a dynamic neural controller (DNC) and a robust neural compensator (RNC) applied to compensate for the wheeled mobile robot dynamics, bounded unknown disturbances, and neural network modeling errors. To minimize the problems found in practical implementations of the classical variable structure controllers (VSC) and sliding mode controllers (SMC), and to eliminate the chattering phenomenon, the nonlinear and continuous KNC and RNC of the TNC are applied in lieu of the discontinuous components of the control signals that are present in classical forms. Additionally, the PANC neither requires the knowledge of the wheeled mobile robot kinematics and dynamics nor the timeconsuming training process. Stability analysis, convergence of the tracking errors to zero, and the learning algorithms for the weights are guaranteed based on the Lyapunov method. Simulation results are provided to demonstrate the effectiveness of the proposed approach.
    Źródło:
    Control and Cybernetics; 2015, 44, 1; 47-98
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    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:
    Podążanie za zadaną trajektorią grupy robotów kołowych z użyciem wirtualnych połączeń sprężysto-tłumiących
    Trajectory Tracking of a Wheeled Robotic Group Connected with Virtual Spring-Damper Mesh
    Autorzy:
    Wiech, Jakub
    Powiązania:
    https://bibliotekanauki.pl/articles/27312455.pdf
    Data publikacji:
    2023
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    grupa robotów
    roboty kołowe
    podążanie za zadaną trajektorią
    fizykomimetyka
    sterowanie grupą robotów
    robotic group
    wheeled robots
    trajectory tracking
    physicomimetics
    robotic group control
    Opis:
    W artykule przedstawiono rozwiązanie problemu śledzenia trajektorii przez grupę robotów kołowych w środowisku bez przeszkód. Śledzenie trajektorii rozumiane jest jako podążanie za punktem odniesienia przez geometryczny środek grupy, wraz z jednoczesnym utrzymaniem zadanej odległości między sąsiadującymi robotami. Zaproponowana metoda opiera się na wirtualnych siłach z wirtualnych połączeń sprężysto-tłumiących między robotami, co pozwala na śledzenie trajektorii grupy po samoorganizacji z zachowaniem jej pożądanego kształtu. Przedstawiona metoda sterowania została szczegółowo opisana wraz z opisem dynamiki i-tego robota oraz została przetestowana numerycznie i eksperymentalnie. W pracy przedstawiono wyniki badań numerycznych i eksperymentalnych oraz dyskusję i wnioski z nich wynikające. Wyniki pracy można rozszerzyć o praktyczne aplikacje związane ze śledzeniem trajektorii grupy robotów.
    The article presents the solution to the problem of trajectory tracking of a self-organized group of wheeled robots in the environment without obstacles. The group of robots is tracking a trajectory realized as following a reference point by the geometric center of the group, as well as simultaneously, reaching and maintaining a given distance between neighboring robots. The proposed method is based on virtual forces from virtual spring-damper connections between robots, which allows for the trajectory tracking of the previously self-organized group while maintaining its desired shape. The presented method of control is described in detail with the description of i-th robot dynamics and was tested numerically and experimentally. The paper presents the results of numerical tests and experimental research and ends with discussion and conclusions. The paper’s results could be expanded for applications related to robotic group trajectory tracking.
    Źródło:
    Pomiary Automatyka Robotyka; 2023, 27, 3; 107--117
    1427-9126
    Pojawia się w:
    Pomiary Automatyka Robotyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Model predictive ship trajectory tracking system based on line of sight method
    Autorzy:
    Miller, Anna
    Powiązania:
    https://bibliotekanauki.pl/articles/27311431.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Czasopisma i Monografie PAN
    Tematy:
    model predictive control
    MPC
    ship control
    autonomous ship
    trajectory tracking
    line of sight
    LOS
    kontrola statku
    statek autonomiczny
    śledzenie trajektorii
    linia wzroku
    kontrola predykcyjna modelu
    Opis:
    Maritime Autonomous Surface Ships (MASS) perfectly fit into the future vision of merchant fleet. MASS autonomous navigation system combines automatic trajectory tracking and supervisor safe trajectory generation subsystems. Automatic trajectory tracking method, using line-of-sight (LOS) reference course generation algorithm, is combined with model predictive control (MPC). Algorithm for MASS trajectory tracking, including cooperation with the dynamic system of safe trajectory generation is described. It allows for better ship control with steady state cross-track error limitation to the ship hull breadth and limited overshoot after turns. In real MASS ships path is defined as set of straight line segments, so transition between trajectory sections when passing waypoint is unavoidable. In the proposed control algorithm LOS trajectory reference course is mapped to the rotational speed reference value, which is dynamically constrained in MPC controller due to dynamically changing reference trajectory in real MASS system. Also maneuver path advance dependent on the path tangential angle difference, to ensure trajectory tracking for turns from 0 to 90 degrees, without overshoot is used. All results were obtained with the use of training ship in real–time conditions.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 5; art. no. e145763
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory tracking control of a mobile manipulator with an external force compensation
    Autorzy:
    Galicki, Mirosław
    Powiązania:
    https://bibliotekanauki.pl/articles/2086828.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    non-holonomic mobile manipulator
    unstructured external forces
    trajectory tracking
    robust task space control
    Lyapunov stability
    nieholonomiczny manipulator mobilny
    siły zewnętrzne nieustrukturyzowane
    śledzenie trajektorii
    solidna kontrola przestrzeni zadań
    stabilność Lapunova
    Opis:
    This paper considers the problem of the accurate task space finite-time control susceptible to both undesirable disturbance forces exerted on the end-effector and unknown friction forces coming from joints directly driven by the actuators as well as unstructured forces resulting from the kinematic singularities appearing on the mechanism trajectory. We obtain a class of estimated extended transposed Jacobian controllers which seem to successfully counteract the external disturbance forces on the basis of a suitably defined task-space non-singular terminal sliding manifold (TSM) and the Lyapunov stability theory. Moreover, in order to overcome (or to minimise) the undesirable chattering effects, the proposed robust control law involves the second-order sliding technique. The numerical simulations (closely related to an experiment) ran for a mobile manipulator consisting of a non-holononic platform of (2;0) type and a holonomic manipulator of two revolute kinematic pairs show the performance of the proposed controllers and make a comparison with other well-known control schemes.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 5; e137943, 1--11
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust Trajectory Tracking Control of Space Manipulators in Extended Task Space
    Sterowanie odporne śledzeniem trajektorii manipulatora kosmicznego w rozszerzonej przestrzeni zadaniowej
    Autorzy:
    Banaszkiewicz, Marek
    Węgrzyn, Marek
    Basmadji, Fatina L.
    Galicki, Mirosław
    Powiązania:
    https://bibliotekanauki.pl/articles/2174239.pdf
    Data publikacji:
    2022
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    space manipulator
    trajectory tracking
    unstructured disturbance forces
    robust finite-time task space control
    Lyapunov stability
    manipulator kosmiczny
    śledzenie trajektorii
    nieustrukturyzowane siły zakłócające
    odporne skończone czasowo sterowanie w przestrzeni zadaniowej
    stabilność Lyapunova
    Opis:
    This study provides a new class of controllers for freeflying space manipulators subject to unknown undesirable disturbing forces exerted on the end-effector. Based on suitably defined taskspace non-singular terminal sliding manifold and the Lyapunov stability theory, we derive a class of estimated extended transposed Jacobian controllers which seem to be effective in counteracting the unstructured disturbing forces. The numerical computations which are carried out for a space manipulator consisting of a spacecraft propelled by eight thrusters and holonomic manipulator of three revolute kinematic pairs, illustrate the performance of the proposed controller.
    W pracy zaproponowano nową klasę sterowników dla manipulatorów kosmicznych przy uwzględnieniu nieznanych, niepożądanych sił zakłócających wywieranych na koniec efektora. W oparciu o odpowiednio zdefiniowane nieosobliwą, końcową rozmaitość ślizgową i teorię stabilności Lapunowa wyprowadzono klasę rozszerzonych estymowanych transponowanych sterowników Jakobianowych, ktore wydają się być efektywne w przeciwdziałaniu nieustrukturyzowanych sił zakłócających. Podejście zilustrowano również obliczeniami numerycznymi dla manipulatora kosmicznego składającego się z bazy napędzanej przez osiem pędników typu cold-gas i manipulatora holonomicznego o trzech parach kinematycznych obrotowych.
    Źródło:
    Pomiary Automatyka Robotyka; 2022, 26, 4; 27--35
    1427-9126
    Pojawia się w:
    Pomiary Automatyka Robotyka
    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
    Tytuł:
    Ship trajectory tracking control system design based on sliding mode control algorithm
    Autorzy:
    Liu, Y.
    Bu, R.
    Gao, X.
    Powiązania:
    https://bibliotekanauki.pl/articles/259621.pdf
    Data publikacji:
    2018
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    LOS
    ship trajectory
    tracking control system
    sliding mode control
    Opis:
    The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.
    Źródło:
    Polish Maritime Research; 2018, 3; 26-34
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Analysis of Prediction Methods Applied to a Selected Road Vehicle Tracing System
    Analiza metod predykcji trajektorii pojazdów drogowych zastosowanych w wybranym systemie poszukiwania
    Autorzy:
    Łukasik, Z.
    Górska, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/310740.pdf
    Data publikacji:
    2018
    Wydawca:
    Instytut Naukowo-Wydawniczy "SPATIUM"
    Tematy:
    road vehicles
    prediction
    vehicle trajectory
    vehicle search system
    road network
    observation points
    object tracking
    pojazdy drogowe
    predykcja
    trajektoria ruchu pojazdu
    system poszukiwania pojazdów
    sieć dróg
    punkty obserwacyjne
    śledzenie obiektu
    Opis:
    The system which is developed in Department of Transport and Electrical Engineering UTH Rad. consists of collecting, analyzing and selecting data from existing observation units, and such to be installed in the future, including photo-radars, electronic fee collection and traffic monitoring cameras. The aim is tracking of objects distinguished by certain visual features. The present paper specifies the road net on chosen area and further, algorithms for the prediction of the continuations of vehicle tracks registered by the system are on consideration and assessed.
    Działanie opracowywanego na Wydziale Transportu i Elektrotechniki UTH Rad. systemu poszukiwania pojazdów drogowych polega na kolekcji, analizie i selekcji danych uzyskanych z różnorodnych istniejących, a także dodatkowo zainstalowanych jednostek obserwacyjnych takich jak fotoradary, kamery monitorujące ruch uliczny lub bramki służące do automatycznego poboru opłat. Celem jest śledzenie obiektów o zadanych cechach dystynktywnych. W niniejszym artykule sprecyzowano sieć dróg na zadanym obszarze, a następnie rozpatrywane i oceniane są algorytmy predykcji dalszych tras obiektów – pojazdów drogowych, które zostały zanotowane przez system.
    Źródło:
    Autobusy : technika, eksploatacja, systemy transportowe; 2018, 19, 6; 915-918, CD
    1509-5878
    2450-7725
    Pojawia się w:
    Autobusy : technika, eksploatacja, systemy transportowe
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-27 z 27

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