This paper addresses the design and implementation of the Extended Prediction Self-Adaptive Control (EPSAC) approach to Model Predictive Control (MPC) for path-following. Special attention is paid to the closed-loop performance in order to achieve a fast response without overshoot, which are the necessary conditions to ensure the desired tracking performance in confined or indoor environments. ...

This paper addresses the problem of following an arbitrary path with a dissipative passive haptic display. Such a display has energetically passive actuators; all motive energy must come initially from the human operator and the display may then in general dissipate, redirect, and/or store the energy. Due to the passive restriction conventional haptic control techniques are not applicable. Thre...

This paper addresses the path-following problem of steering an autonomous airplane along a predefined 3-D path, while performing a coordinated turn maneuver. The presented solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, and of an output tracking error that guarantees both path-following and coordinated turn compliance. For controlle...

A control algorithm to manipulate the input actuation forces on hinge-free compliant mechanism models synthesized utilizing continuum topology optimization formulations is implemented and successfully tested in this work, such that the mechanisms follow their specified trajectories and nearby trajectories with high degree of accuracy even when confronted with different resistance forces. The va...

This paper focuses on the control problem of a mobile robot pushing a ball. In order to drive a rolling ball along a given path, the robot should provide the ball with appropriate force by consecutive pushing operations. A new control algorithm combining a linear feedback control with a normal proportional feedback control is proposed, which steers a reference point to follow the given path and...

Moreau-Yosida based approximation techniques for optimal control of variational inequalities are investigated. Properties of the path generated by solutions to the regularized equations are analyzed. Combined with a semi-smooth Newton method for the regularized problems these lead to an efficient numerical technique.

In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis, which links the curvature of the path to be followed with the target point. The proposed controller allow...

Abstract In this study, we evaluate a circular path-following control for vehicle. For vehicle to follow path, rotational and expansionary coordinate transformations using the time-state form of system is useful. However, an undershoot response occurs in initial some conditions. derive conditions with occurrence clarify avoiding it. The analysis performed via numerical simulations model.

In this article, we have addressed the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis. This hypothesis links the curvature of the path to be followed with the target point. The proposed...