相关论文: Circular-Line Trajectory Tracking Controller for M…

Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…

A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…

This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile…

This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…

Optical sensors are often mounted on moving platforms to aid in a variety of tasks like data collection, surveillance and navigation. This necessitates the precise control of the inertial orientation of the optical sensor line-of-sight…

An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

This paper presents a novel linear robust Youla controller output observation system for tracking vehicle motion trajectories using a simple nonlinear kinematic vehicle model, supplemented with positional data from a radar sensor. The…

Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…

An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the…

Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller…

Some mobile sensor network applications require the sensor nodes to transfer their trajectories to a data sink. This paper proposes an adaptive trajectory (lossy) compression algorithm based on compressive sensing. The algorithm has two…

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…