In this paper, a reactive control architecture based on hybrid systems (continuous/discrete) is used to control a unicycle mobile robot tracking a given trajectory while avoiding obstacles. The main motivation of using hybrid systems is the possibility to define the overall control scheme as a combination of several elementary controllers (trajectory tracking, obstacle avoidance) that stability...

A motion trajectory tracking method using a novel visual attention model and kernel density estimation is proposed in this paper. As a crucial step, moving objects detection is based on visual attention. The visual attention model is built by combination of the static and motion feature attention map and a Karhunen-Loeve transform (KLT) distribution map. Since the visual attention analysis is c...

This paper addresses issue of flexible object manipulation by using robot arms. The main objective is to establish a suitable control system of the robot for performing flexible object manipulation tasks. A force sensor equipped at the wrist of the robot arm is used to measure the vibration of the flexible object. A vibration control scheme is designed based on linear feedback of vibration meas...

This paper suggests an auto-tuning method of PID trajectory tracking controller for robotic manipulators. In general, the PID trajectory tracking controller for mechanical systems shows the performance limitation. Since the control system including performance limitation can not have equilibrium points, we define newly the quasi-equilibrium region as an alternative for equilibrium point. Also, ...

This paper is concerned with the problem of the iterative learning control with current cycle feedback for a class of non-linear systems with well-defined relative degree. The tracking error caused by a non-zero initial shift is detected as extended D-type learning algorithm is applied. The defect is overcome by adding terms including the output error, its derivatives as well as integrals. Asym...

This paper presents an active fault tolerant control (FTC) strategy for induction motor drive that ensures trajectory tracking and offset the effect of the sensor faults despite the presence of load torque disturbance. The proposed approaches use a fuzzy descriptor observer to estimate simultaneously the system state and the sensor fault. The physical model of induction motor is approximated by...

The purpose of this paper is to present our results in developing a dynamic model of the Mitsubishi PA-10 robot arm for the purpose of low velocity trajectory tracking using very low feedback gains. The novelty of this research is therefore the development of a systematic algorithm to extract the model parameters of a harmonic drive transmission in the robot arm to facilitate model-based contro...

We consider the problems of trajectory generation and tracking for general 2 × 2 systems of first-order linear hyperbolic PDEs with anti-collocated boundary input and output. We solve the trajectory generation problem via backstepping. The reference input, which generates the desired output, incorporates integral operators acting on advanced and delayed versions of the reference output with ker...

Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and...