Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 108 for “"Trajectory-Tracking"”.
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Direct Adaptive Control for a Trajectory Tracking UAV
… the direct adaptive control algorithm can enable trajectory tracking in cases where there are both significant uncertainties in the external disturbances and considerable error in the UAV model.</p>
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Trajectory-Tracking Control of the Ball-and-Plate System
… in creating a demonstration of a ball-and-plate trajectory tracking controller on hardware. The display piece will serve to inspire engineering students to pursue Mechatronics and control theory as an area of study. The ball-and-plate system is open-loop unstable, underactuated, and has …
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Evolutionary design of digital trajectory-tracking controllers for robotic manipulators
The design of digital trajectory-tracking controllers for robotic manipulators is a challenging task, since such manipulators are multivariable non-linear plants. In addition, in many applications of robotic manipulators, it is required that very high-accuracy trajectory-tracking performance be …
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Development of knee joint angle trajectory tracking for leg support mechanism
… walking. This powered mechanism has ability of tracking the knee joint angle trajectory to imitate gait movement of a normal healthy person. The normal knee joint angle trajectory data is obtained from healthy person by using wireless Radio Frequency communication device and then plotted in …
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Design, analysis and trajectory tracking control of underactuated mobile capsule robots.
… needs this thesis presents the design, analysis, trajectory tracking control and implementation of underactuated mobile capsule robots. These capsule robots can be modified and used in in-vivo medical applications. Researches on the capsubottype underactuated system focus on the stabilization of …
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Adaptive Control Combined with Integral Concurrent Learning for Trajectory Tracking Near Asteroids
… Adaptive Control (MRAC) law to track the desired trajectory. The reference model is defined by idealized two-body dynamics, while the spacecraft’s true dynamics are propagated using the high-fidelity polyhedral gravity model. By explicitly accounting for gravity-field irregularities through …
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Consensus Seeking, Formation Keeping, and Trajectory Tracking in Multiple Vehicle Cooperative Control
… consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse …
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Trajectory Tracking Control of Unmanned Ground Vehicles using an Intermittent Learning Algorithm
… concerned with time parameterized reference tracking is trajectory tracking. Having an efficient and effective tracking algorithm embedded in the autonomous driving system is the key for better performance in terms of resources consumed and tracking error. Many tracking control algorithms in …
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Trajectory Tracking of a Statically-stable Biped with Two Degrees of Freedom
… A control algorithm was developed to attempt trajectory tracking with the biped. Trajectories along a surface can be defined in terms of linear and angular velocities. In this research, it was assumed that a high level controller had transformed a desired trajectory into discrete steps of …
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Generic dynamic modelling and model-based trajectory tracking control of wheeled mobile robots (WMRs)
… evaluation of model-based control schemes for trajectory tracking of Wheeled Mobile Robots (WMRs) for industrial applications. The research extends the theoretical and experimental work at the Centre for Industrial Control, Department of Mechanical Engineering, Concordia University on mobile …
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Spacecraft trajectory tracking and parameter estimation in the presence of a splitting contact binary asteroid
… binary system and controlling a spacecraft’s trajectory in the system’s vicinity is investigated. An indirect adaptive control scheme is utilized to simultaneously and accurately meet both objectives. Finally, a simpler control scheme, based only on 2-body dynamics is derived to show …
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Improved Vehicle Dynamics Sensing during Cornering for Trajectory Tracking using Robust Control and Intelligent Tires
… and control algorithm framework for vehicle trajectory tracking for vehicles operating in this limit handling regime. This combined vehicle-tire model places an emphasis on the lateral dynamics of the vehicle by integrating the effects of relaxation length on the contact patch force …
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Enhancing AutoMPC for efficient offline optimal control of robots through state constraints, improved system identification models and trajectory tracking controllers
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2025-05-01
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Model predictive control of wheeled mobile robots
… of Model Predictive Control (MPC) for real-time trajectory tracking of a nonholonomic WMR. MPC is a control strategy in which the control law is designed based on optimizing a cost function. The input and output constraints that may arise in practical situations can be directly incorporated into …
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UAV Simulation Environment for Autonomous Flight Control Algorithms
… are available, with several path planning and trajectory tracking algorithms implemented. Emphasis is given to simulation of failures and other abnormal conditions, so that appropriate tools for failure detection, evaluation, and accommodation can be designed. The development of new path …
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Tracking with constraints in a web of sensors
… function in an ongoing research project in trajectory tracking model. There were two deployed sensor networks, one with distance sensors and one with cameras, and the camera network was used to collect data for the two papers. The trajectory tracking model was modified to incorporate wall …
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Safe Control and Coordination of Multiple Autonomous Vehicles
… We consider in particular the problem of safe trajectory tracking for a group of interacting autonomous nonholonomic vehicles. In addressing this problem, new model predictive control formulations, new model predictive control stability results, and novel distributed coordination schemes are …
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Traversability Estimation Techniques for Improved Navigation of Tracked Mobile Robots
… involves unique challenges in path planning and trajectory tracking. The dynamics of robot-terrain interaction, along with additional factors such as slip experienced by the vehicle, slope of the terrain, and actuator limitations of the robotic system, need to be taken into consideration. To …
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Non-linear model predictive control for autonomous vehicles
… research focuses on the application of MPC to trajectory generation of autonomous vehicles in an online manner. The operating environment is assumed to be unknown with various different types of obstacles. Models of simplified 2-D dynamics of the vehicle are developed, discretized and validated …
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