Analyzing sports like football is interesting not only for the sports team itself, but also for the public and the media. Both have recognized that using more detailed analyses of the teams’ behavior increases their attractiveness and also their performance. For this reason, the games and the individual players are recorded using specially developed tracking systems. The tracking solution usual...

We proposed two approaches to tracking moving target with bearing-only measurement through incorporating observer trajectory optimization into passive tracking systems. The two optimizers algorithm are designed separately, and they are independent of any state estimators, which make them possible to be combined with any state estimators to achieve high accuracy maneuvering/non-maneuvering targe...

Aiming at the sensitivity to initial value and long computation time spent on iteration and programming the reference trajectory in reentry trajectory optimization for hypersonic vehicles, we propose a trajectory programming algorithm, which is based on drag acceleration profile. First of all, models of motion in reentry process of vehicle are built and an independent variable is introduced for...

Trajectory tracking is used to keep tracks objects. Trajectory tracking control is used to affect desired trajectories of a device, human and anything can move. In order to precisely track specified trajectories, or be able to follow more general trajectories, many tracking control algorithms have been proposed, but still there is some problems of tracking trajectory in its application. This pa...

This thesis investigates optimal trajectory tracking of nonlinear dynamical systems with affine controls. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. The concept of so-called exactly realizable trajectories is proposed. For exactly realizable desired trajectories exists a control signal which enforces the state to exactly fol...

Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

This paper addresses the issue of trajectory tracking control based on a neural network controller for industrial manipulators. A new control scheme is proposed based on neural network technology and linear feedback approach for tracking a planned trajectory. In detail, the control system is designed with two parallel subsystems designed separately. One is a linear controller, and another one i...