Papers by Keyword: Trajectory Tracking Control

Abstract: A control platform was constructed with the features of a car carrier and two step motors, which could be controlled by changing the motors’ speed and direction based on DSP. Two motors were directly connected with the front wheels (they are both the driving wheels and steering wheels) to realize a straight line or curve driving. The hardware circuit of the experimental platform control part was designed to solve the relative connection problems, including among the development board, step motor controller, step motor; among the computer, the emulator, the development board. The control strategy of the step motor was studied based on DSP. To verify the trajectory tracking control function of the experimental platform, a circular trajectory was verified with the tracking control strategy.

Abstract: This paper applies the terminal sliding mode control method to control the trajectory of a three axises Cartesian Pneumatic Manipulator. A mathematical model of the pneumatic servo control system was established at first, then the terminal sliding mode control method was used for trajectory control. The simulation results shows that the tracking error of the terminal sliding mode control method become large only in the time period of not fully reaching the convergence point in time when the manipulator tracks the space straight line, whereas it can fully track the target trajectory after reaching the convergence point.

Abstract: In view of the strong non-linear and time-varying characteristics of linear ultrasonic motors, a fuzzy recurrent neural network controller is put forward. In order to improve the control of the convergence speed and robustness of the proposed controller, the differential evolution algorithm is used for the rapid preliminary off-line optimization of the weights and parameters of network，and then combines the adaptive law and BP algorithm and gradient descent optimization mechanism for learning and accurate optimization. The results show that the fuzzy recurrent neural network controller is better than PID and self-structuring neural network controller, and has a good anti-interference capability.

Abstract: Active disturbance rejection control technology and its application to trajectory tracking control of a linear actuator are presented in this paper. Working principle of each part of this control technology is given, and parameter tuning method is discussed which helps control engineers to use this technology well. In order to test the performance of active disturbance rejection control technology, a sinusoidal trajectory tracking control system of a linear actuator is constructed. Simulation and experimental results show that the introduced control technology can achieve small tracking error at low velocity where friction is the main disturbance. Active disturbance rejection control technology provides a good choice for control engineers in actual industry applications with its simple structure, convenience to use and excellent performance.

Abstract: A simple dynamics model is established based on the two-link flexible manipulator moving within the vertical plane, and a robust simple control scheme is put forward. The advantages of this scheme are simple and good robustness. Only the error signal is needed when designing the control scheme and the acquirement of control signal does not depend on the system model. The simulation results show that this method has a good robustness and stability.

Abstract: Hydraulic thrust system is a critical part of shield tunneling machine. Automatic trajectory tracking control is a significant task of thrust system during tunnel excavation. In this article, plane mechanical structure diagram of the thrust system and path planning method are illustrated at first. An integrated control system is proposed to achieve the automatic control of the thrust trajectory. The control system consists of one trajectory planning controller for both cylinders and an individual cylinder controller for each of hydraulic cylinders. Trajectory planning controller is used to generate respective displacement signals of double-cylinder in every thrust stroke and each of cylinder controllers is used to realize the precise control of the given thrust trajectory. Variable-gain PID control strategy applied to achieve the precise tracking control of thrust trajectory under several typical working conditions are done at last. The experimental results demonstrate that variable-gain PID control have good performances with short response time and small overshoot regardless of changes of working conditions.