CDC2000 Mobile Robots: Tracking Control

Mobile Robots: Tracking Control
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Stable Tracking Control for Unmanned Aerial Vehicles Using Non-Inertial Measurements Authors: Robert Mahony, Tarek Hamel, Volume: 1, Page 2971 Paper number 1760 Abstract: A number of recent papers have considered trajectory tracking control design for unmanned aerial vehicles (UAVs). One method to obtain an integrated non-linear control for such vehicles is to exploit the underlying cascade structure (input/output linearizability) of the systems. The dynamics of these vehicles have a particular form when expressed in an inertial frame of reference that lends itself to this approach. In practice, an autonomous vehicle has access only to absolute measurements of non-inertial variables such as linear acceleration and angular velocity along with local measurements of inertial quantities such as position, velocity and orientation. Expressing the dynamics of a typical system in body fixed frame coordinates introduces dynamic coupling that appears to destroy the simple structure of the inertial equations. In this paper it is shown that the inherent passivity-like properties of the underlying mechanical system may be exploited to obtain Lyapunov control design for the more general system equations expressed in the body fixed frame of an unmanned aerial vehicle. This avoids a possibly difficult and highly non-robust state reconstruction that would be necessary before existing control designs could be applied. CD001760.PDF (From Author) TOP 3D Path Following for Autonomous Underwater Vehicle Authors: Pedro Encarnação, António M. Pascoal, Volume: 1, Page 2977 Paper number 1837 Abstract: A new methodology is proposed for the design of path following systems for autonomous underwater vehicles. Global convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle. Formal convergence proofs are indicated. Simulation results with the model of a prototype autonomous underwater vehicle are presented to illustrate the performance of the path following system derived. CD001837.PDF (From Author) TOP Sliding Mode Control of an Underwater Robotic Manipulator Authors: Giorgio Bartolini, Mauro Coccoli, Elisabetta Punta, Volume: 1, Page 2983 Paper number 1614 Abstract: This paper deals with the application of the sliding mode control theory to the specific case of a manipulator for which mono-directional control actions only have to be considered. In particular the control of an underwater gripper is presented. Many even complex robotic structures, can be actuated by mono-directional control actions, for example the so called tendon-arms, the jet-actuated vehicles, underwater vehicles with mono-directional thrusters, etc.. The robotic system which is considered in the paper belongs to the above class, since it is actuated by voice coil motors which, acting on a hydraulic circuit, are able to generate mono--directional forces. In practical realizations actuators often show imprecise relationships between the electrical input signals and the mechanical outputs, that is joint forces or torques. Such a situation constitutes a source of uncertainties we have to deal with. A sliding mode control methodology based on the use of a simplex of constant control vectors is presented, which has revealed to be general enough to work with different applications too. CD001614.PDF (From Author) TOP Practical Stabilization of a Class of Nonlinear Systems: Application to Chain Systems and Mobile Robots Authors: Pascal Morin, Claude Samson, Volume: 1, Page 2989 Paper number 1626 Abstract: A characterization of the Lie Algebra Rank Condition by transverse periodic functions is applied to feedback stabilization of a class of nonlinear systems. The approach is illustrated on controllable homogeneous driftless systems subjected to known additive perturbations. A generalized path tracking problem for mobile robots is then addressed, in connection with some aspects of the path planning problem. CD001626.PDF (From Author) TOP Regulation of a Nonholonomic Dynamic Wheeled Mobile Robot with Parametric Modeling Uncertainty Using Lyapunov Functions Authors: António Pedro Aguiar, Ahmad N. Atassi, António M. Pascoal, Volume: 1, Page 2995 Paper number 1894 Abstract: This paper addresses the problem of regulating the dynamic model of a nonholonomic wheeled robot of the unicycle type to a point with a desired orientation. A simple controller is derived that yields global convergence of the trajectories of the closed loop system in the presence of parametric modeling uncertainty. Controller design relies on a non smooth coordinate transformation in the original state space, followed by the derivation of a Lyapunov-based, adaptive, smooth control law in the new coordinates. Convergence to the origin is analyzed and simulation results are presented. CD001894.PDF (From Author) TOP Reactive Mobile Manipulation Using Dynamic Trajectory Tracking: Design and Implementation Authors: Petter Ögren, Lars Petersson, Magnus Egerstedt, Xiaoming Hu, Volume: 1, Page 3001 Paper number 1858 Abstract: A solution to the trajectory tracking problem for mobile manipulators is proposed and implemented on a real robotic system. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, and at the same time the base motions are generated in such a way that the base is coordinated with the gripper while reactively avoiding obstacles. Furthermore, it is shown that the method allows arbitrary upper and lower bounds on the gripper-base distance to be set, and this can be achieved without introducing deadlocks into the system. CD001858.PDF (From Author) TOP Robust Control of Full State Tracking of a Wheeled Mobile Robot Authors: Guangyan Xu, Danwei Wang, Keliang Zhou, Volume: 1, Page 3007 Paper number 1168 Abstract: This paper proposes a robust trajectory tracking control scheme for a nonholonomic wheeled mobile robot. This control scheme achieves full state tracking in the sense of uniform ultimate boundedness. It is robust against the uncertain inertia parameters, unknown disturbances and initial errors. CD001168.PDF (From Author) TOP