Helicopter tracking error and input aggression for point tracking tasks under boundary avoidance situations

A Fast and Accurate Global Maximum Power Point Tracking Method for Solar Strings under Partial Shading Conditions

This paper presents a model-based approach for the global maximum power point (GMPP) tracking of solar strings under partial shading conditions. In the proposed method, the GMPP voltage is estimated without any need to solve numerically the implicit and nonlinear equations of the photovoltaic (PV) string model. In contrast to the existing methods in which first the locations of all the local pe...

Quadrotor Helicopter Trajectory Tracking Control

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 ...

Multi-Point Boundary Tracking For Atomic Force Microscopy

This paper presents several approaches for efficient imaging on the atomic force microscope (AFM) using boundary tracking. In addition to the refinement and generalization of existing algorithms such as those of Andersson [1][2] and Chen [3] , a new multi-point model is proposed. In this model, variables are calculated according to a set of consecutive measurements rather than updated on a poin...

Collaborative tracking for robotic tasks

This paper describes how to integrate tracking functions on a mobile robot. Tracking is required during autonomous robot navigation in different situations: landmark tracking to guarantee real-time robot localization, target tracking for a sensor based motion or obstacle tracking to control an obstacle avoidance procedure. These objects -landmarks, targets, and obstacleshave different character...

Robust and active trajectory tracking for an autonomous helicopter under wind gust