In this paper, a method of reducing the tracking error in CNC machining is proposed. The structured neural network is used to approximate the discontinuous friction in CNC machining, which has jump points and uncertainties. With the estimated nonlinear friction function, the reshaped trajectory can be computed from the desired one by solving a second order ODE such that when the reshaped trajec...

Deceleration rates have considerable influence on the fuel economy of hybrid electric vehicles. Given the vehicle characteristics and actual/measured operating conditions, as well as upcoming route information, optimal velocity trajectories can be constructed that maximize energy recovery. To support the driver in tracking of the energy optimal velocity trajectory, automatic cruise control is a...

This paper gives a survey of some recent results on control of systems with magnitude and rate limits, motivated by problems in real-time trajectory generation and tracking for unmanned aerial vehicles. Two problems are considered: stabilization using “nonlinear wrappers” to rescale a given control law and real-time trajectory generation using differential flatness. For both problems, simplifie...

Design of output tracking controllers for nonlinear nonminimum phase systems is challenging. Among existing methods the regulation approach usually leads to large transient errors while the classical inversion approach results in unbounded internal dynamics for nonminimum phase systems. In this paper, stable inversion is applied to the design of tip trajectory tracking for a single-link flexibl...

In this study, an observer-based tracking controller is proposed and evaluatedexperimentally to solve the trajectory tracking problem of robotic manipulators with the torque saturationin the presence of model uncertainties and external disturbances. In comparison with the state-of-the-artobserver-based controllers in the literature, this paper introduces a saturated observer-based controllerbas...

In this paper, using the State Dependent Riccati Equation (SDRE) method, we propose a Robust Optimal Integral Sliding Mode Controller (ROISMC) to guarantee an optimal control law for a quadrotor which has become increasingly important by virtue of its high degrees of manoeuvres ability in presence of unknown time-varying external disturbances and actuator fault. The robustness of the controller...

This paper presents analysis and design results for control systems subject to oscillatory inputs, i.e., inputs of large amplitude and high frequency. The key analysis results are a series expansion characterizing the averaged system and various Lie-algebraic conditions that guarantee the series can be summed. Various example systems provide insight into the results. With regards to design, we ...

Visual Object Tracking is an important module in a variety of applications, such as: surveillance, human computer interaction, and visual servoing. The main goal is to compute the trajectory of the object of interest given an initial bounding box for the object. 2D tracking is when the trajectory of the object is computed in terms of camera coordinates.It has been heavily investigated in the pa...