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Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 1,   Pages 110-115 doi: 10.1007/s11465-007-0019-5

Abstract: Moreover, a design method of the dynamical sliding-mode controller that is applied to the output trackingcontroller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control

Keywords： lower-dimensional     nonlinear     trajectory     tracking     diffeomorphism    

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Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 504-527 doi: 10.1007/s11465-020-0626-y

Abstract: novel multiple mode-based navigation system, which can achieve efficient motion planning and accurate trackingcontrol.With the desired profile curvature and preselected mode, a fuzzy adaptive receding horizon control isThe tracking controller design is achieved using the quadratic programming (QP) technique, and the primal–dual

Keywords： mobile robot     multiple maneuvering mode     motion planning     tracking control     receding horizon control    

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Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 4,   Pages 392-399 doi: 10.1007/s11465-008-0056-8

Abstract: This paper addresses the task-space position/attitude tracking control of a suspended parallel robot,a novel model-independent task-space PD controller that ensures end-effector position and attitude trackingThe simulation and experimental results show that the new controller has better control effects than

Keywords： telescope     five-hundred     end-effector     controller     simulation    

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reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 9,   Pages 759-768 doi: 10.1631/FITEE.1500053

Abstract: This paper investigates the trajectory tracking control for a class of nonlinear systems with timevaryingFirst, the definition of the tracking control is given.Then criteria on the tracking controller design are derived in terms of LMIs such that the output ofA scaling factor is introduced to deal with the disturbance such that the control precision is improvedFinally, a CSTR system is provided to demonstrate the effectiveness of the established control laws.

Keywords： H∞     reference tracking     Nonlinear system     State feedback control     Time-varying delays     Unified model    

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Fractional order extremum seeking approach for maximum power point tracking of photovoltaic panels

Ammar NEÇAIBIA,Samir LADACI,Abdelfatah CHAREF,Jean Jacques LOISEAU

Frontiers in Energy 2015, Volume 9, Issue 1,   Pages 43-53 doi: 10.1007/s11708-014-0343-5

Abstract: In this paper, an integrated framework was proposed, which achieved both maximum power point trackingThe proposed control scheme was based on extremum-seeking (ES) combined with fractional order systems

Keywords： extremum seeking (ES)     fractional order control (FOC)     fractional calculus     photovoltaic (PV) panel     maximumpower point tracking (MPPT)    

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Simulation of grid connection and maximum power point tracking control of brushless doubly-fed generator

Hicham SERHOUD, Djilani BENATTOUS

Frontiers in Energy 2013, Volume 7, Issue 3,   Pages 380-387 doi: 10.1007/s11708-013-0252-z

Abstract: the brushless doubly-fed generator (BDFG), the grid connection strategy and maximum energy extraction controlcutting-in grid confirmed the good dynamic performance of grid synchronization and effective power control

Keywords： brushless doubly-fed generator (BDFG)     modeling     grid connection control     back-to-back pulse-width modulation    

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0753-3

Abstract: To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methodsresolve the tracking control and obstacle avoidance separately.Specifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different stages.is presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducing

Keywords： four-wheeled mobile robot     obstacle-circumventing adaptive control     adaptive anti-disturbance terminalsliding mode control     sub-target dynamic tracking regression obstacle avoidance    

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High-bandwidth nanopositioning via active control of system resonance

Linlin LI, Sumeet S. APHALE, Limin ZHU

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 331-339 doi: 10.1007/s11465-020-0619-x

Abstract: To overcome this issue, a variety of open- and closed-loop control techniques that commonly combine dampingand tracking actions, have been reported in literature.The integral resonant control (IRC) has been reported earlier to demonstrate the significant performanceThe IRC damping control is augmented with a standard integral tracking controller to improve positioningAnd both damping and tracking control parameters are analytically optimized to result in a Butterworth

Keywords： nanopositioning stage     high-bandwidth     resonant mode control     tracking control     integral resonant control    

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Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 329-335 doi: 10.1007/s11465-006-0034-y

Abstract: This paper presents a robot manipulator tracking controller based on output feedback linearization.The simulation results show that the proposed controller has more superior tracking control performance

Keywords： available     comparison     unmeasurable     nonlinear     perturbation observer    

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1,   Pages 95-101 doi: 10.1007/s11465-015-0332-3

Abstract:

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problemThe analytical results show that the proposed algorithm enables better high-precision tracking performancewith chattering-free than traditional sliding mode control algorithm under various disturbances.

Keywords： weld seam tracking     welding robotic manipulator     adaptive control     sliding mode control    

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Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 260-264 doi: 10.1007/s11465-006-0036-9

Abstract: The model of a precision linear motor drive device (PLMDD) and its control requirements are analyzed.In order to enhance the tracking and anti-disturbance performance of the system, its third-order modelThis includes feedback control algorithm and feedforward control algorithm.The feedback controller improves system tracking performance and suppresses load and mechanical disturbanceTheoretical analyses, simulations and experiments show that this control method increases the tracking

Keywords： feedforward     tracking     ±5     anti-disturbance performance     algorithm    

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Dynamic characteristics and improved MPPT control of PV generator

Houda BRAHMI, Rachid DHIFAOUI

Frontiers in Energy 2013, Volume 7, Issue 3,   Pages 342-350 doi: 10.1007/s11708-013-0242-1

Abstract: This paper presents a mathematical model of photovoltaic (PV) module and gives a strategy to calculate online the maximum power point (MPP). The variation of series and shunt resistor are taken into account in the model and are dynamically identified using the Newton-Raphson algorithm. The effectiveness of the proposed model is verified by laboratory experiments obtained by implementing the model on the dSPACE DS1104 board.

Keywords： modeling of photovoltaic (PV) generator     maximum power point tracking (MPPT)     estimation parameters     real    

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Powertrain control of a solar photovoltaic-battery powered hybrid electric vehicle

P. PADMAGIRISAN, V. SANKARANARAYANAN

Frontiers in Energy 2019, Volume 13, Issue 2,   Pages 296-306 doi: 10.1007/s11708-018-0605-8

Abstract: powertrain controller consists of two levels of controllers named lower level controllers and a high-level controlThe lower level controllers are designed to perform individual tasks such as maximum power point trackingThe perturb and observe based maximum power point tracking algorithm is used for extracting maximum powerA high-level control algorithm is then designed to switch between the lower level controllers based on

Keywords： battery management system     hybrid electric vehicles (HEVs)     maximum power point tracking (MPPT)     solar photovoltaic    

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Output tracking of delayed logical control networks withmulti-constraint Research Articles

Ya-ting ZHENG, Jun-e FENG

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 2,   Pages 316-323 doi: 10.1631/FITEE.1900376

Abstract: In this study, the output tracking of delayed logical control networks (DLCNs) with state and controlBased on the augmented system, the output tracking problem is transformed into a set stabilization problemstate transition matrix is computed, and a necessary and sufficient condition is derived for the output tracking

Keywords： Logical control networks     Multi-constraint     Output tracking     Stabilization     State-dependent delay     Semi-tensor    

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 168-174 doi: 10.1007/s11465-007-0028-4

Abstract: To precisely implement the force control of robot manipulators in an unknown environment, a control strategyThe force tracking experiments are executed in an open-architecture control system with different trackingThe corresponding force control results are compared and analyzed.in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control

Keywords： predictive     tracking     corresponding     stiffness     algorithm    

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Title Author Date Type Operation

Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

Journal Article

Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

Journal Article

Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

Journal Article

reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

Journal Article

Fractional order extremum seeking approach for maximum power point tracking of photovoltaic panels

Ammar NEÇAIBIA,Samir LADACI,Abdelfatah CHAREF,Jean Jacques LOISEAU

Journal Article

Simulation of grid connection and maximum power point tracking control of brushless doubly-fed generator

Hicham SERHOUD, Djilani BENATTOUS

Journal Article

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Journal Article

High-bandwidth nanopositioning via active control of system resonance

Linlin LI, Sumeet S. APHALE, Limin ZHU

Journal Article

Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

Journal Article

An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

Journal Article

Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

Journal Article

Dynamic characteristics and improved MPPT control of PV generator

Houda BRAHMI, Rachid DHIFAOUI

Journal Article

Powertrain control of a solar photovoltaic-battery powered hybrid electric vehicle

P. PADMAGIRISAN, V. SANKARANARAYANAN

Journal Article

Output tracking of delayed logical control networks withmulti-constraint

Ya-ting ZHENG, Jun-e FENG

Journal Article

Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

Journal Article