An angle trajectory tracking of a 3-DOF (Degree Of Freedom) pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension or shortening of the three pneumatic cylinders. The response of pneumatic cylinder is relatively slow for motor actuator and can get a good single-axis trajectory control by tradition...

The rapid development of smartphone sensors has provided rich indoor pedestrian trajectory data for indoor location-based applications. To improve the quality of these collected trajectory data, map matching methods are widely used to correct trajectories. However, these existing matching methods usually cannot achieve satisfactory accuracy and efficiency and have difficulty in exploiting the r...

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized usi...

Iterative learning control is a control technique used for the tracking of a finite duration trajectory. Iterative learning control (ILC) with focus on speed of tracking specific points and tracking error on these points is analyzed in this paper. A technique is introduced which employs the receding horizon optimization to track the points along with the iterative learning control is introduced...

This paper explores a performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive co...

This paper proposes a new approach named predictive control of redundant manipulators based on avoidance manipulability to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses...

This paper focuses on resolving the trajectory tracking problem of two wheeled mobile robot. We begin by presenting the kinematic model of the robot which is the base of the control law then we present a PI controller and a model predictive controller to solve the problem of trajectory tracking. We performed a comparison between the performances of the classical PI controller and the predictive...

The paper presents a solution to the problem of combined trajectory tracking and path following system design for underactuated mobile robots with non negligible dynamics. This problem is motivated by the practical need to develop control systems for mobile robots that can yield good trajectory tracking performance while keeping some of the properties that are normally associated with path foll...

Trajectory tracking is an important behaviour for mobile robots. This paper addresses the nonlinear trajectory tracking control problem for a nonholonomic car-like mobile robot with a constrained state. Compared with the existing works on the nonholonomic car-like mobile robots, the state constraint is emphasized in this work. The controllability of the system under the state constraint is chec...

The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...