Control of an Excretion Care Support Robot Using Digital Acceleration Control Algorithm: Path Tracking Problem in an Indoor Environment

HighlightsAutomatic navigation technology in autonomous tractors is one of the key technologies in precision agriculture.A path-tracking control algorithm based on lateral deviation and yaw rate feedback is proposed.The modified steering angle was obtained by comparing the ideal yaw rate with the actual yaw rate.The results demonstrate the efficiency and superior accuracy of the proposed algorithm for tractor path-tracking control.Abstract. The performance of path-tracking control systems for autonomous tractors affects the quality and efficiency of farmland operations. The objective of this study was to develop a path-tracking control algorithm based on lateral deviation and yaw rate feedback. The autonomous tractor path lateral dynamics model was developed based on preview theory and a two-degree-of-freedom tractor model. According to the established dynamic model, a path-tracking control algorithm using yaw angular velocity correction was designed, and the ideal steering angle was obtained by lateral deviation and sliding mode control. The modified steering angle was obtained by a proportional-integral-derivative feedback controller after comparing the ideal yaw rate with the actual yaw rate, which was then combined with the ideal steering angle to obtain the desired steering angle. The simulation and experimental results demonstrate the efficiency and superior accuracy of the proposed tractor path-tracking control algorithm, enabling its application in automatic navigation control systems for autonomous tractors. Keywords: Autonomous tractor, Path-tracking control, Sliding mode control, Yaw rate feedback.

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Sequential Time-Optimal Algorithm for Extended Path Tracking Problem

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4046614 ◽

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.

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A New Image-Based Visual Servo Control Algorithm for Target Tracking Problem of Fixed-Wing Unmanned Aerial Vehicle

2019 Chinese Control Conference (CCC) ◽

10.23919/chicc.2019.8865341 ◽

2019 ◽

Cited By ~ 3

Author(s):

Lingjie Yang ◽

Zhihong Liu ◽

Xiangke Wang

Keyword(s):

Target Tracking ◽

Unmanned Aerial Vehicle ◽

Control Algorithm ◽

Servo Control ◽

Tracking Problem ◽

Visual Servo ◽

Visual Servo Control ◽

Aerial Vehicle

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Distributed Robust Attitude Tracking of Multiple Spacecraft with Disturbances and Unmodelled Dynamics

Mathematical Problems in Engineering ◽

10.1155/2015/941697 ◽

2015 ◽

Vol 2015 ◽

pp. 1-7

Author(s):

Dapeng Yang ◽

Xiangdong Liu

Keyword(s):

Control Algorithm ◽

Tracking Problem ◽

Communication Graph ◽

Tracking Errors ◽

Attitude Tracking ◽

Angular Velocities ◽

Attitude Controller ◽

Multiple Spacecraft ◽

The Given

This paper considers the distributed robust attitude tracking problem of multiple spacecraft subject to disturbances and unmodelled dynamics. We designed a distributed robust attitude controller for each spacecraft using the relative attitudes and relative angular velocities of neighbors to ensure that the attitude tracking errors between the leader and the followers converge to zero under the condition that the communication graph among the followers is undirected and connected and at least one follower has the access to the leader. The control algorithm achieves robust attitude tracking under the existence of the disturbances and unmodelled dynamics by selecting the control gains according to the given condition.

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