The present letter proposes a predictive path following control (PPFC) that controls 5 degrees of freedom (DoFs) the end-effector while remaining (decoupled) translational DoF should be controlled by an external controller. This PPFC is particularly useful for on surfaces with geometric uncertainties such controller can independently designed to manage interaction between tool and surface. Ther...

The classical problem setup of iterative learning control (ILC) is to enforce tracking a reference profile specified at all time points in the fixed task duration. removal specification releases significant design freedom how path followed but has not been fully exploited literature. This article unlocks this extra by formulating ILC description handle repeated path-following tasks, e.g., weldi...

The development of drive-by-wire chassis technology increases the flexibility vehicle dynamic control. However, more actuators have higher potential failure risk and lead model mismatch, which brings a severe challenge for control precision system robustness. Regarding to steering actuator, this research presents feedback gain scheduling H ∞ controller autonomous path tracking. Firstly, linear ...

This paper addresses the problem of guidance and control underwater vehicles. A multi-level strategy is used to determine (1) outer-loop path-following commands (2) inner-loop actuation commands. Specifically, a line-of-sight algorithm guide vehicle along three-dimensional path, an L1 adaptive low-level rudder accomplish path following. The performance bounds these outer- algorithms are present...