Research on the Trajectory Tracking Control of a Swinging Spherical Robot

2021 ◽  
Author(s):  
Guiyang Cui ◽  
Haiyan Yang ◽  
Kaifeng Xiong ◽  
Hua Zhang ◽  
Mingming Guo
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Spherical Robot ◽  
Trajectory Tracking Control

Trajectory Tracking Control of an Amphibious Spherical Robot Using MPC Approach

2021 ◽  
Author(s):  
Meng Liu ◽  
Shuxiang Guo ◽  
Liwei Shi ◽  
Xihuan Hou ◽  
He Yin ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Spherical Robot ◽  
Trajectory Tracking Control

Trajectory Tracking Control for a Biomimetic Spherical Robot Based on ADRC

2021 ◽  
Author(s):  
Mugen Zhou ◽  
Shuxiang Guo ◽  
Xihuan Hou ◽  
He Yin ◽  
Ao Li ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Spherical Robot ◽  
Trajectory Tracking Control

Trajectory Tracking Control Applied to an Electro-Hydraulic Actuator With Uncertain Parameters.

2019 ◽  
Author(s):  
Josiel Gouvêa ◽  
Carlos Alberto Correia ◽  
Alessandro Zachi ◽  
Wallace Moreira Bessa
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Uncertain Parameters ◽  
Hydraulic Actuator ◽  
Trajectory Tracking Control

Trajectory tracking control based on Lyapunov method and terminal sliding mode

2013 ◽  
Vol 32 (11) ◽  
pp. 3243-3246 ◽  
Author(s):  
Yang-ming ZHANG ◽  
Guo-rong LIU ◽  
Dong-bo LIU ◽  
Huan LIU
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Lyapunov Method ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

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