In this paper, we present a dynamic redundancy resolution technique for mobile manipulators using a position fuzzy controller. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next...
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ISBN:
(纸本)9781424443451
In this paper, we present a dynamic redundancy resolution technique for mobile manipulators using a position fuzzy controller. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, a control algorithm is proposed which resolve the redundancy by decoupling the motion of the system into the end-effector motion in the task space and an internal motion in the null space and controls them in prioritized basis with priority given to the primary task. In order to achieve a good end-effector trajectory tracking, a position fuzzy controller is used to provide the torques needed to move the end-effector along the desired trajectory. Simulation results are given to illustrate the coordination of two subsystems in executing the desired trajectories.
In this paper, an adaptive backstepping method is used for a ship course tracking control. This has been done by applying a reference signal derived from a LOS algorithm. The ship model is described by a third order n...
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This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were...
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This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The controldesign is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.
This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where p...
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This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.
This paper describes an Adaptive Backstepping Neural Network (ABNN) method used for a ship course tracking control. The ship model is described by a third order nonlinear model whose parameters are unknown. The contro...
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The purpose of this paper is the regulation of water level in a photovoltaic pumping system. To reach this objective, we have developed an algorithm with Matlab / simulink which gives as result, the value of the refer...
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This paper describes a Predictive control method used for track following control in hard disc drives (HDD). While reading/ writing data, the head must be positioned on the target data track quickly and precisely, and...
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作者：
Halima, D. B.Chtourou, M.Intelligent Control
Optimization and Design of Complex Systems (ICOS) Department of Electrical Engineering National School of Engineers of Sfax ENIS P.B.W. 3038 Sfax Tunisia
In this work, we present a state feedback adaptive fuzzy control method, applied to the stabilization of a nonlinear system whose mathematical model is unknown or/and with varying time parameters. The synthesis of the...
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In this work, we present a state feedback adaptive fuzzy control method, applied to the stabilization of a nonlinear system whose mathematical model is unknown or/and with varying time parameters. The synthesis of the control law is based on fuzzy models developed by a local description of the considered system's dynamics. Therefore, two steps, at each time, are necessary to the adaptive control of such system. The first one consists in estimating every local model parameters, using a gradient method as parameter's adjustment method. The second one consists in the computation, of the control law based on the classical methods applied for the linear system control as the state feedback control. The stability of the proposed adaptive control method is discussed.
In this paper, the leader-following consensus for discrete-time multi-agent systems with parameter uncertainties is investigated based on the event-triggered strategy. And the parameter uncertainty is assumed to be no...
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This work provides algorithms for underactuated ship path guidance using nonlinear control theory. Path following is achieved by a geometric assignment based on a line-of-sight projection algorithm for minimization of...
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ISBN:
(纸本)907738121X
This work provides algorithms for underactuated ship path guidance using nonlinear control theory. Path following is achieved by a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path. The control laws in surge and yaw are derived using backstepping. This results in a dynamic feedback controller where the dynamics of the uncontrolled sway mode enters the yaw control law. Uniform Global Asymptotic Stability (UGAS) is proven for the tracking error dynamics in surge and yaw while the controller dynamics is bounded. To show the effectiveness of the controller and guidance systems, we simulate our algorithm using Simulink on a marine craft model.
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