This work is focused on the experimental research of image processing for fast, accurate and efficient pattern recognition and motion tracking. To deal with the images and videos in real time as human beings is paramount about robot research if the robot wants to interact with the external environment in a humanoid way. In this research, object recognition and motion tracking are investigated s...

Researchers desire to obtain the ball position for each frame for broadcast soccer video to enhance soccer video analysis and understanding. However, the existing algorithms cannot get the satisfactory results. We have developed a detection and tracking algorithm for accurately finding the ball position in broadcast soccer video in the papers [6-8]. Based on our algorithm, we develop this ball ...

In this paper, discrete-time inverse optimal control for trajectory tracking is applied for a three-phase linear induction motor (LIM). The system mathematical model is in the Nonlinear Block Controller Form (NBCF) in order to achieve trajectory tracking. The control law computes the input voltage signals which are optimal in the sense that this control law minimizes a meaningful cost functiona...

In this paper we present a new approach for joint trajectory tracking of a single-link flexible robot manipulator. Firstly a distributed parameter dynamic model is derived using extended Hamilton Principle. Based on this model a new moment feedback trajectory tracking control scheme is designed for a single-link flexible robot manipulator having a payload at its free end. The control scheme is ...

In this work Iterative Learning Control is extended to non-uniform trajectory tracking problems for certain classes of nonlinear uncertain systems. The proposed ILC scheme can learn from different motion patterns and guarantee the asymptotic convergence even if the target trajectory varies at every iteration. The concept of Composite Energy Function (CEF) is adopted to facilitate the convergenc...

In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contractionbased control theory. Our proposed controller renders a desired sliding manifold (where the reference trajectory lies) attractive by making the corresponding error system partially contracting. Finally, we present numerical...

The purpose of this communication is to investigate the usefulness of the differential flatness control approach to solve the trajectory tracking problem for a four rotor aircraft. After introducing simplifying assumptions, the flight dynamics equations for the four rotor aircraft are considered. A trajectory tracking control structure based on a two layer non linear approach is then proposed. ...

A nonlinear predictive controller (NMPC) is developed to control a unicycle-like mobile robot for trajectory tracking. Dynamic model of PIONNER 3-DX mobile robot is used, where external forces and wheels sliding have been considered. Restrictions on control actions and system states are also considered. Simulations results at both tracking and regulation (positioning) are shown, these results s...

This paper deals with the dynamics and control of a two degree of freedom robot arm actuated by pneumatic artificial muscles (PAMs). The high power-weight ratio of PAMs justifies their use as actuators in robotics. To achieve trajectory tracking performance, controllers are constructed based on a dynamic model of the robot arm. Due to the high non-linear dynamics of the robotic system, fuzzy co...

By considering the current components in Figs. 7, it is evident that the dynamic compensations (/xf,) constitute by far the largest share of the input currents. It is therefore desirable to include/x^, for precise trajectory tracking. If the dynamic compensation iersnfxti is neglected, for a controller with comparable gain settings to the computed torque controller, the tracking performance det...