this paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. fuzzy logic control (flc) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  on the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

This paper summarises works carried out for defining tool trajectory formats well adapted to High Speed Machining (HSM). Advantages in using native polynomial formats, calculated directly from the CAD model, are highlighted. In particular, polynomial surface formats are presented as a generic format for tool trajectory. Illustrations show that surface formats represent a good compromise between...

Trajectory planning is an essential part of systems controlling autonomous entities such as vehicles or robots. It requires not only finding spatial curves but also that dynamic properties of the vehicles (such as speed limits for certain maneuvers) must be followed. In this paper, we present an approach for augmenting existing path planning methods to support basic dynamic constraints, concret...

A hybrid optical-digital signal processing system that estimates the trajectory of moving targets in a two-dimensional field at video frame rates was developed and constructed. The hybrid system is particularly well suited to the trajectory estimation of small, barely discernable, moving objects of unknown position and velocity in high-resolution image sequences. The system uses an optical Four...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...

The two-loop quark Regge trajectory is obtained at arbitrary space-time dimension D using the s-channel unitarity conditions. Although explicit calculations are performed for massless quarks, the method used allows to find the trajectory for massive quarks as well. At D → 4 the trajectory turns into one derived earlier from the high-energy limit of the two-loop amplitude for the quark-gluon sca...

In long-term trajectory planning for the International Space Station (ISS), translational burns are currently targeted sequentially to meet the immediate trajectory constraints, rather than simultaneously to meet all constraints, do not employ gradient-based search techniques, and are not optimized for a minimum total deltav (∆v) solution. An analytic formulation of the constraint gradients is ...

This paper presents a novel approach to online, robot-motion planning for multiple movingobjects interception with constant acceleration. The position, velocity and acceleration of the free particles are used as kinematics information. This information is used to obtain the multiple interception trajectory. The polynomial interpolation technique is implemented in a 2D robot with to follow the f...

Trajectory sensitivity analysis (TSA) has been applied in control system problems for a long time in such areas as optimization, adaptive control etc. Applications in power systems in conjunction with Lyapunov/transient energy functions first appeared in the 80's. More recently, it has found applications on its own by defining a suitable metric on the trajectory sensitivities with respect to th...