In Model Predictive Control (MPC) formulations of trajectory tracking problems, infeasible reference trajectories and a-priori unknown constraints can lead to cumbersome designs, aggressive tracking, loss recursive feasibility. This is the case, for example, in applications mobile systems presence which are not fully known a-priori. this paper, we propose a new framework called Flexible Trackin...

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 manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constra...

This paper presents a solution to on-board trajectory tracking control of quadrotors. The proposed approach combines the standard hierarchical control paradigm that separates the control into low-level motor control, mid-level attitude dynamics control, and a high-level trajectory tracking with a model predictive control strategy. We use dynamic reduction of the attitude dynamics and dynamic ex...

This paper investigates the tracking control of a wheeled mobile robot in the unknown environment. A disturbance observer is developed with utilization the integral filter. The proposed control scheme employs the disturbance observer control approach to design an auxiliary wheel velocity controller to make the tracking errors, which includes the velocity tracking error, the angular velocity tra...

The paper presents a new tracking control approach for a class of non-minimum phase linear systems. The proposed approach consists of two parts: trajectory planning and tracking controller design. The trajectory planning is solved as an optimization problem to improve the achievable transient performance under the fundamental constraints associated with perfect tracking of non-minimum phase sys...

Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose the controller into two components: (i) a path controller, which modulates the parameterization of the desired path in an online manner, yielding a reference t...

This paper proposes a trajectory planning and tracking approach for cylindrical heat exchanger process that is considered, under some assumptions, as a bilinear system. The proposed technique is based on orthogonal functions and especially the use of operational integration and product matrices. These operational tools allow the conversion of a bilinear differential state equation into an algeb...

This paper presents an adaptive fuzzy sliding-mode dynamic controller (AFSMDC) of the car-like mobile robot (CLMR) for the trajectory tracking issue. First, a kinematics model of the nonholonomic CLMR is introduced. Then, according to the Lagrange formula, a dynamic model of the CLMR is created. For a real time trajectory tracking problem, an optimal controller capable of effectively driving th...