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Zain Anwar Ali, Daobo Wang, Muhammad Aamir and Suhaib Masroor
In this paper, a novel Model Reference Adaptive Control (MRAC)-based hybrid control algorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV). The mathematical model of the tri-rotor is based on the Newton?Euler form...
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Zain Anwar Ali, Daobo Wang, Muhammad Aamir and Suhaib Masroor
In this paper, a novel Model Reference Adaptive Control (MRAC)-based hybrid control algorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV). The mathematical model of the tri-rotor is based on the Newton?Euler form...
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Anton Glushchenko and Konstantin Lastochkin
A quadrotor trajectory tracking problem is addressed via the design of a model reference adaptive control (MRAC) system. As for real-world applications, the entire quadrotor dynamics is typically unknown. To take that into account, we consider a plant mo...
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Mircea-Bogdan Radac and Timotei Lala
This work suggests a solution for the output reference model (ORM) tracking control problem, based on approximate dynamic programming. General nonlinear systems are included in a control system (CS) and subjected to state feedback. By linear ORM selectio...
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Weilei Mu, Yuxue Wang, Hailiang Sun and Guijie Liu
To solve the trajectory tracking problem of insufficient response and the large tracking error of remotely operated vehicles (ROVs) under the interference of large ocean currents, this paper proposes a double-loop sliding mode controller with an ocean cu...
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Gokhan Bayar
This study focuses on motion planning and reference trajectory tracking control of an autonomous agricultural vehicle to achieve precise row following and turning. The smooth time-varying feedback control method was adapted to the system to generate the ...
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Xu Huang, Yuan Zhang, Jiarun Liu, Honghao Zhong, Zhaolei Wang and Yue Peng
A data-driven nonlinear control approach, called error dynamics-based dual heuristic dynamic programming (ED-DHP), is proposed for air vehicle attitude control. To solve the optimal tracking control problem, the augmented system is defined by the derived...
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Anna Okhitina, Stepan Tkachev and Dmitry Roldugin
This paper considers a construction procedure of a satellite reference angular motion in the vicinity of an unstable gravitational equilibrium position. The satellite is stabilized on the reference trajectory by the magnetic coils. The problem is solved ...
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Guisheng Zhao, Shaonan Chen, Yixiang Liu and Kai Guo
In real-world applications, hydraulic pressure control performance is influenced by model uncertainties, the control bandwidths of valves and pumps, and deviations from the linear working region. To overcome the aforementioned obstacles, a novel referenc...
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Yong Gao, Dongliang Wang, Wu Wei, Qiuda Yu, Xiongding Liu and Yuhai Wei
Since it is difficult to accurately track reference trajectories under the condition of stride constraints for an unmanned hexapod robot moving with rhythmic gait, an omnidirectional tracking strategy based on model predictive control and real-time repla...
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Shi Jia, Yao Jiang, Tiemin Li and Yunsong Du
Flexure-based micro-motion mechanisms activated by piezoelectric actuators have a wide range of applications in modern precision industry, due to their inherent merits. However, system performance is negatively affected by model uncertainty, disturbance ...
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Jian Zheng, Wenjun Sun, Yun Li and Jiayin Hu
In order to solve the multi-objective planning and trajectory tracking control problem related to maritime autonomous surface ships (MASSs), a new design scheme for autonomous navigation is proposed in this paper, with a receding horizon navigation and c...
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Wei Liu, Hui Ye and Xiaofei Yang
For an underactuated unmanned surface vehicle (USV), time-varying external disturbances affect the accuracy of trajectory tracking. To ensure trajectory tracking accuracy, in this paper the reduced-order extended state observer (ESO) and the super-twisti...
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Manh Hung Nguyen, Hoang Vu Dao and Kyoung Kwan Ahn
In this paper, a novel adaptive robust control (ARC) scheme is proposed for electro-hydraulic servo systems (EHSSs) with uncertainties and disturbances. All dynamic functions in system dynamics are effectively approximated by multi-layer radial basis fun...
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Aleksander Suti, Gianpietro Di Rito and Roberto Galatolo
This paper deals with the development of a novel fault-tolerant control technique aiming at the diagnosis and accommodation of inter-turn short circuit faults in permanent magnet synchronous motors for lightweight UAV propulsion. The reference motor is d...
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Jingmin Zhang, Xiaokui Yue, Haofei Zhang and Tiantian Xiao
This paper investigates the air?ground cooperative time-varying formation-tracking control problem of a heterogeneous cluster system composed of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). Initially, the structure of the UAV?UG...
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Egidio D?Amato, Immacolata Notaro, Giulia Panico, Luciano Blasi, Massimiliano Mattei and Alessia Nocerino
In the last decade, the increasing use of NanoSats and CubeSats has made the re-entry capsule an emerging research field needing updates in configuration and technology. In particular, the door to advancements in terms of efficiency and re-usability has ...
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Filiberto Muñoz, Jorge S. Cervantes-Rojas, Jose M. Valdovinos, Omar Sandre-Hernández, Sergio Salazar and Hugo Romero
This research presents a way to improve the autonomous maneuvering capability of a four-degrees-of-freedom (4DOF) autonomous underwater vehicle (AUV) to perform trajectory tracking tasks in a disturbed underwater environment. This study considers four se...
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Jo?ef Ritonja, Andreja Gor?ek and Darja Pecar
This paper presents the advanced control theory?s original utilisation to realise a system that controls the fermentation process in batch bioreactors. Proper fermentation control is essential for quality fermentation products and the economical operatio...
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Dae-Hyeong Ji, Hyeung-Sik Choi, Sang-Ki Jeong, Ji-Youn Oh, Seo-Kang Kim, Sam-Sang You
Pág. 84 - 93
In this paper, we studied the designing and manufacturing of an underwater track vehicle (UTV) that can be operated in the underwater environment. We designed the electrical and control system for precise operation of the UTV and conduct test operation b...
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