نتایج جستجو برای: path following control
تعداد نتایج: 2008805 فیلتر نتایج به سال:
In this research, a model predictive collision-free path following controller is developed and applied for an omnidirectional mobile robot (OMR). The controlled to track reference while avoiding collision with obstacles. path-following problem reformulated into the regulation of extended plant by introducing virtual degree freedom, parameter geometric curve. Then Model Predictive Controller (MP...
the primary goal of the current project was to examine the effect of three different treatments, namely, models with explicit instruction, models with implicit instruction, and models alone on differences between the three groups of subjects in the use of the elements of argument structures in terms of toulmins (2003) model (i.e., claim, data, counterargument claim, counterargument data, rebutt...
One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...
This paper is devoted to path following control for electro-mechanical systems described by the port-Hamiltonian form. Path following control is investigated mainly for mechanical systems since the desired path is characterized by its 'position'. Therefore, most of the existing results use the nature of second order differential equations since mechanical systems are described by them. The pres...
In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
Adaptive Intelligent Tutoring Systems (ITS) aim at helping students going through the resolution of a given problem in a principled way according to the desired outcomes, the intrinsic capabilities of the student, and the particular context in which the exercise takes place. These systems should be capable of acting according to mistakes, boredness, distractions, etc. Several works propose diff...
A path-following problem for linear systems with unstable zero dynamics is solved. While the original control variable steers the system output along the path, the path parameter θ is used as an additional control to stabilize zero dynamics with a feedback law which is nonlinear due to the path constraint. A sufficient condition for solvability of the path-following problem is given in terms of...
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