Some Inverse Solutions to an Automobile Path-Tracking Problem with Input Control of Steering and Brakes

1986 ◽  
Vol 15 (2) ◽  
pp. 61-71 ◽  
Author(s):  
H. Hatwal ◽  
E. C. Mikulcik
Keyword(s):  
Path Tracking ◽  
Tracking Problem ◽  
Input Control ◽  
Inverse Solutions

Robust PID Tuning. Application to a Mobile Robot Path Tracking Problem

2000 ◽  
Vol 33 (4) ◽  
pp. 559-564
Author(s):  
Julio E. Normey-Rico ◽  
Ismael Alcalá ◽  
Juan Gómez-Ortega ◽  
Eduardo F. Camacho
Keyword(s):  
Mobile Robot ◽  
Path Tracking ◽  
Tracking Problem ◽  
Pid Tuning ◽  
Robot Path

Sequential Time-Optimal Algorithm for Extended Path Tracking Problem

2020 ◽  
Vol 142 (8) ◽  
Author(s):  
Gábor Csorvási ◽  
István Vajk
Keyword(s):  
Degrees Of Freedom ◽  
Optimal Algorithm ◽  
Real Life ◽  
Path Tracking ◽  
Robotic Arm ◽  
Tracking Problem ◽  
Six Degrees Of Freedom ◽  
Time Optimal ◽  
Path Tracking Algorithm ◽  
Extended Path

Abstract This paper presents a fast and easily implementable path tracking algorithm for robots. Usually, for a path tracking problem, the goal is to move the robot on a predefined path, while the joint velocities and accelerations are kept within their limits. This paper deals with the extended case, constraining the forces applied to the objects at the manipulator. First, a problem with a special set of constraints is presented, and a sequential solver method is formulated. The presented sequential solver algorithm has significant computational benefits compared to the direct transcription approach. Then, a practical example is introduced where the proposed algorithm can be applied. At last, the algorithm is validated by real-life experimental results with a six degrees-of-freedom robotic arm.

scholarly journals Output Tracking of Some Class Non-Minimum Phase Nonlinear Systems via linearization Input-Output

2021 ◽  
Vol 2123 (1) ◽  
pp. 012014
Author(s):  
Firman
Keyword(s):  
Nonlinear System ◽  
Nonlinear Systems ◽  
Control Design ◽  
Linearization Method ◽  
Minimum Phase ◽  
Tracking Problem ◽  
Input Output ◽  
Output Tracking ◽  
Input Control ◽  
Input Output Linearization

Abstract We present an output tracking problem for a non-minimum phase nonlinear system. In this paper, the input control design to solve the output tracking problem is to use the input output linearization method. The use of the input output linearization method cannot be initiated from output causing the system to be non-minimum phase. Therefore the output of the system will be redefined such that the system will become minimum phase with respect to a new output.

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