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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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En Lu, Jialin Xue, Tiaotiao Chen and Song Jiang
This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autonomous...
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Jairo Olguin-Roque, Sergio Salazar, Iván González-Hernandez and Rogelio Lozano
This paper proposes a robust algorithm based on a fixed-time sliding mode controller (FTSMC) for a Quadrotor aircraft. This approach is based on Lyapunov theory, which guarantees system stability. Nonlinear error dynamics techniques are used to achieve a...
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Yu Wang, Yujie Wang, Yaxin Li and Cheng Ren
This paper proposes a hybrid propulsion-based small underwater robot for robust trajectory tracking control in a harsh and complex underwater environment. The robot is equipped with a Coanda-effect jet thruster and a pair of propeller-based reconfigurabl...
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Yung-Hsiang Chen, Ming-Zhen Ellis-Tiew, Yu-Hsiang Chan, Guan-Wun Lin and Yung-Yue Chen
We propose a robust nonlinear trajectory tracking design by integrating a nonlinear model transformation, robust disturbance eliminator, and trajectory generator for unmanned surface vessels influenced by modeling uncertainties and ocean environmental di...
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Yiran Liu, Boyi Chen, Jinbao Chen and Yanbin Liu
This paper investigates a rapid modeling method and robust analysis of hypersonic vehicles using multidisciplinary integrated techniques. First, the geometrical configuration is described using parametric methods based on the class?shape technique. Aerod...
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Linxing Xu and Yang Li
In this paper, the distributed formation tracking control problem of quadrotor unmanned aerial vehicles is considered. Adaptive backstepping inherently accommodates model uncertainties and external disturbances, making it a robust choice for the dynamic ...
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E. Anyuli Alvarez Salcido, Daniel Centeno-Barreda, Yukio Rosales, Ricardo Lopéz-Gutiérrez, Sergio Salazar and Rogelio Lozano
This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a straight leg ex...
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Mai The Vu, Seong Han Kim, Van P. Nguyen, Nguyen Xuan-Mung, Jiafeng Huang, Dong-Wook Jung and Hyeung-Sik Choi
Underwater vehicles have capacity limits for control inputs, within which their time-optimal trajectories (TOTs) can be formulated. In this study, the fastest trajectory for the depth control of a hybrid underwater glider (HUG) was found using buoyancy e...
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