In this paper, we study the problem of flight formation control and trajectory tracking control for a group of mini rotorcraft. The goal is to achieve and maintain a stable formation for multiple mini rotorcraft while guaranteeing the tracking of a desired time-varying reference. A two-level controller is developed where a individual control strategy guarantees the stabilization of each mini ro...

A Lyapunov-based approach for trajectory tracking of the Schrödinger equation is proposed. In the finite dimensional case, convergence is precisely analyzed. Connection between the controllability of the linear tangent approximation around the reference trajectory and asymptotic tracking is studied. When the linear tangent approximation is controllable, such a feedback ensures almost global asy...

To track network-matched trajectories of moving objects is important in a lot of applications such as trajectory-based traffic-flow analysis and trajectory data mining. However, current network-based location tracking methods for moving objects need digital maps installed at the moving object side, which is not realistic in a lot of circumstances. In this paper, we propose a new moving objects ...

Quantum corrections to beam dynamics are considered. It is shown t&at quantum corrections included in tracking can substantially affect beam trajectory in the vicinity of the separatrix. Abstract Quantum corrections to beam dynamics are considered. It is shown that quantum corrections included in tracking can substantially affect beam trajectory in the vicinity of the separatrix.

This paper focuses on the tracking and synchronization problems of hyperchaotic systems based on active backstepping method. The method consists of a recursive approach that interlaces the choice of a Lyapunov function with the design of feedback control. First, a nonlinear recursive active backstepping control vector is designed to track any desired trajectory in hyperchaotic Wang system. Furt...

This paper presents the design of an output feedback trajectory controller for a Automated Guided Vehicle (AGV) differential drive. Its control architecture assumes that the two drive wheels are not coupled and the vehicle dynamics is not taken into account. It employs two independent velocity controllers that ensure the wheels’ velocities referenced by the trajectory controller. The reference ...

1 2-link whole arm manipulation system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 2 Zero-input motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3 Evolution of φ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 4 Trajectory tracking control in the case of rolling contact with L...

For a two-wheeled differentially driven mobile robot a trajectory tracking concept is developed. A trajectory is a time-indexed path in the plane, i.e. in the three-dimensional configuration space consisting of position and orientation. Due to the nonholonomic nature of a rolling wheel, the system cannot be stabilized by a continuous time-invariant feedback or by feedback linearization. A novel...

A Lyapounov-based approach for trajectory tracking of the Schrödinger equation is proposed. In the finite dimensional case, convergence is analyzed: the connection between the controllability of the linear tangent approximation around the reference trajectory and asymptotic tracking is studied. Closed-loop simulations of a physical example illustrate the interest of such feedback laws for large...

A novel multivariate model predictive control strategy (LV-MPC) for trajectory tracking and disturbance rejection for batch processes, based on multiway PCA models, is presented. It directly computes the manipulated variable trajectory adjustments over a future horizon using the structure of the PCA model. The advantages and the modest data requirements are illustrated using an emulsion polymer...