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Rudi Uswarman, Swadexi Istiqphara, Rajif Agung Yunmar, Arkham Zahri Rakhman
Pág. 135 - 143
Sliding Mode Control (SMC) used to control the stability of a quadcopter from disturbances and uncertainties. This technique has two main advantages: the nonlinear dynamics and modelling errors of the quadcopter can be eliminated by switching function an...
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Bowen Sui, Jianqiang Zhang, Zhong Liu and Junbao Wei
This paper proposes a fixed-time prescribed performance control technique to address the challenge of precise trajectory tracking control for unmanned surface vessels (USVs) in the presence of external time-varying disturbances and input saturation. To b...
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Grzegorz Ilewicz and Edyta Ladyzynska-Kozdras
The surgical robots currently used in cardiac surgery are equipped with a remote center of motion (RCM) mechanism that enables the required spherical workspace. The dynamics model of the surgical robot?s RCM mechanism presented in this work includes a di...
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Yu Chen, Jianwan Ding, Yu Chen and Dong Yan
The introduction of a dynamic model in robot trajectory tracking control design can significantly improve its trajectory tracking accuracy, but there are many uncertainties in the robot dynamic model which can be dealt with through robust control and ada...
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Rong Li, Zhengliang Yang, Gaowei Yan, Long Jian, Guoqiang Li and Zhiqiang Li
This paper uses the adaptive dynamic programming (ADP) method to achieve optimal trajectory tracking control for quadrotors. Relying on an established mathematical model of a quadrotor, the approximate optimal trajectory tracking control, which consists ...
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Nihal Dalwadi, Dipankar Deb and Stepan Ozana
A biplane quadrotor (hybrid vehicle) benefits from rotary-wing and fixed-wing structures. We design a dual observer-based autonomous trajectory tracking controller for the biplane quadrotor. Extended state observer (ESO) is designed for the state estimat...
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Yeye Liu, Xiaogong Lin and Chao Zhang
This paper investigates the affine formation maneuver control for multi-heterogeneous unmanned surface vessels (USV), aiming to enable them to navigate through narrow channels in the near-sea environment. The approach begins with implementing an affine t...
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Feng Jing, Caiwen Ma, Meilin Xie, Fan Wang, Yu Cao and Xiao Fan
In this paper, the finite-time trajectory tracking control problem of a flexible link manipulator (FLM) system with unknown parameters is investigated in joint space. An adaptive nonsingular terminal sliding mode (ANTSM) controller based on an extended s...
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Chengxi Wu, Yuewei Dai, Liang Shan and Zhiyu Zhu
This paper focuses on developing a data-driven trajectory tracking control approach for autonomous underwater vehicles (AUV) under uncertain external disturbance and time-delay. A novel model-free adaptive predictive control (MFAPC) approach based on a f...
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Jian Zheng, Wenjun Sun, Yun Li and Jiayin Hu
In order to solve the multi-objective planning and trajectory tracking control problem related to maritime autonomous surface ships (MASSs), a new design scheme for autonomous navigation is proposed in this paper, with a receding horizon navigation and c...
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