Planning an achievable trajectory for a mobile robot usually consists of two steps: (i) finding a path in the form of a sequence of discrete waypoints and (ii) transforming this sequence into a continuous and smooth curve. To solve the second problem...
To address the problems of a low tracking accuracy and slow error convergence in high-order single-input, single-output electro-optical tracking systems, a backstepping control method based on a Softsign linear–nonlinear tracking differentiator...
Differential tracked robots play a crucial role in various modernized work scenarios such as smart industry, agriculture, and transportation. However, these robots frequently encounter substantial challenges in trajectory tracking, attributable to su...
In a maglev train levitation system, signal processing plays an important role for the reason that some sensor signals are prone to be corrupted by noise due to the harsh installation and operation environment of sensors and some signals cannot be ac...
The problem of quadrotor attitude and position control is considered in the presence of generally lumped disturbances: external disturbances and model uncertainty. The improved active disturbance rejection controller (ADRC) for quadrotor trajectory t...
In Compass/INS integrated navigation systems, feedback inertial navigation solutions to baseband tracking loops may eliminate receiver dynamic effects, and effectively improve the tracking accuracy and sensitivity. In the conventional inertially-aide...
For some flight missions, such as autonomous landing on mobile platforms, the demands on indicators such as target-tracking accuracy and so on are relatively high. To achieve this, a guidance system with excellent precision is necessary. An asymmetri...
It is well known that tracked vehicles can adapt well to all kinds of terrain. However, the safety of tracked vehicles should be considered during steering on sloped terrain. This paper focuses on the differential steering control of tracked vehicles...
How to improve the driving performance of the vehicle while carrying out path tracking control has become a hot issue in current research. In this paper, an MPC (Model predictive control) path tracking control algorithm incorporating differential bra...
Considering the problems that the inner wheel load decreases due to centrifugal force during the steering of differential steering autonomous vehicles, which may result in differential steering failure or even vehicle rollover in severe cases, a path...
In order to meet the constraints of velocity and acceleration of displacement and attitude motion of an unmanned helicopter during an automatic carrier landing mission, an asymmetric tracking differentiator, which could set the speed and acceleration...
In order to solve the problem that the control system of permanent magnet synchronous motor (PMSM) is difficult to meet the high control accuracy due to the influence of non-repeated disturbances such as external disturbance, system parameter variati...
In this study, we examined the robust super-twisting sliding mode backstepping control (SBSC) method, which employed a tracking differentiator and nonlinear disturbance observer for a hexacopter unmanned aerial vehicle (UAV) system. To realize robust...
Slab track structures become deformed under the effects of differential subgrade settlement. According to the properties of the China Railway Track System (CRTS) II slab track on a subgrade, a three-dimensional (3D) coupled model based on both the di...
This article investigates the trajectory tracking control of a differential-drive two-wheeled mobile robot (DDWMR) using its kinematic model, framed in the context of sustainability. A nonlinear-to-linear transformation based on differential flatness...
In this paper, we address the problem of detecting and tracking targets with a low signal-to-noise ratio (SNR) by exploiting hybrid differential evolution (HDE) in the particle filter track-before-detect (PF-TBD) context. Firstly, we introduce the Ba...
This paper considers the main challenges for all components engaged in the driving task suggested by the automation of road vehicles or autonomous cars. Numerous autonomous vehicle developers often invest an important amount of time and effort in fin...
Sensor differential signals are widely used in many systems. The tracking differentiator (TD) is an effective method to obtain signal differentials. Differential calculation is noise-sensitive. There is the characteristics of low-pass filter (LPF) in...
Velocity information from the odometer is the key information in a reduced inertial sensor system (RISS), and is prone to noise corruption. In order to improve the navigation accuracy and reliability of a 3D RISS, a method based on a tracking differe...
In the future, wireless power transmission is expected to cover power levels ranging from milliwatts to megawatts and over distances of a few meters to kilometers for both stationary and moving photovoltaic (PV) targets. Optical wireless power transm...
This paper proposes a hierarchical control architecture for trajectory tracking of differential-drive nonholonomic mobile robots intended for the Very Small Size Soccer (VSSS) competition. The proposed framework integrates a high-level nonlinear traj...
This paper proposes an improved active disturbance rejection control (IADRC) scheme for a magnetic levitation ball system to enhance performance under scenarios of internal parameter perturbations and external disturbances. Firstly, a mathematical mo...
This paper presents a closed-form tracking and collision avoidance framework for multi-agent differential drive robots. Existing reactive methods often rely on purely geometric proximity, leading to conservative detours and local minima. A state-depe...
This article investigates the problem of adaptive fault-tolerant trajectory tracking control for a differential-driven unmanned surface vehicle (USV) with propeller faults. A new USV control system considering a propeller servo loop is established, w...
This paper investigates the robust tracking control of unmanned aerial vehicles (UAVs) against external time-varying disturbances. First, by introducing a virtual position controller, we innovatively decouple the UAV dynamics into independent positio...
With the growing demand for safe obstacle avoidance and precise trajectory tracking in the autonomous navigation of unmanned surface vessels (USVs), this paper investigates an adaptive differential evolution approach for integrated path planning and...
In this paper, we studied a fractional-order robust backstepping control (BSC) combined with a fractional-order tracking differentiator and a fractional-order nonlinear disturbance observer for a quadrotor unmanned aerial vehicle (UAV) system. A frac...
Satellite radar altimeters are advanced remote sensing devices that play an important role in observing the global marine environment. Accurately estimating the noise level of altimeter in-orbit ranging data is crucial for evaluating the payload perf...
Efficient and low-cost modes for detecting metro track geometry defects (TGDs) are essential for condition-prediction-based preventive maintenance, which can help improve the safety of metro operations and reduce the maintenance cost of metro tracks....
It is difficult for single time-series Interferometric Synthetic Aperture Radar (InSAR) processing to guarantee the accuracy and efficiency of continuous track monitoring in regions of differential subsidence. This paper proposes a new method, integr...
To ensure reliable lane change behavior in-wheel motor-driven electric vehicles (IWM-EVs) under steer-by-wire (SBW) failure, this paper presents an integrated lateral–longitudinal lane change control strategy based on differential steering. The...
This paper investigates the emerging field of grid-connected wind-powered pumping kite generator system (PKGS), focusing on the challenges associated with the generator/motor speed control. Conventional use of proportional–integral (PI) control...
In order to improve the performance of the active vibration isolation system (AVIS) with electromagnetic actuator, several problems of vibration control are studied. Position control is a critical component in suspension systems, and the position sen...
To address the challenges of non-smooth reference force commands, uncertain nonlinear dynamics, and external load disturbances in electro-hydraulic servo systems (EHSSs), this study proposes an adaptive nonsingular terminal sliding mode control (ANTS...
We investigated lysosome dynamics during neuronal stem cell (NSC) differentiation by two quantitative and complementary biophysical methods based on fluorescence: imaging-derived mean square displacement (iMSD) and single-particle tracking (SPT). The...
To address the issue of the Geiger-mode Avalanche Photodiode (GM-APD) LiDAR’s echo being easily overwhelmed by strong noise under low signal-to-background ratio conditions, leading to degraded performance in range parameter estimation and low t...
Aimed at the poor performance of guidance algorithms designed based on a linearized model in active defense under large leading angle deviation, both-way and one-way cooperative sliding mode guidance algorithms based on the smooth nonsingular termina...
Torque ripples caused by cogging torque, flux harmonics, and current measurement error seriously restrict the application of a permanent magnet synchronous motor (PMSM), which has been paid more and more attention for the use in inertial stabilized p...
Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS) receivers and Micro-Electro-Mechanical Systems (MEMS)-based inertial and magnetic sensors to stabilize and control the fli...
The color design of architectural interior display spaces directly affects the effectiveness of cultural information communication and the visual cognitive experience of viewers. However, there is currently a lack of combined subjective and objective...
Accurate trajectory tracking remains a central challenge in differential-drive mobile robots (DDMRs), particularly when operating under real-world conditions. Model Predictive Control (MPC) provides a powerful framework for this task, but its perform...
In this paper, a double closed-loop backstepping controller is designed for 3D trajectory tracking of a turtle-inspired amphibious spherical robot suffering from problems that include model uncertainties, environmental disturbances, and unmeasured ve...
This paper introduces in brief the traction system of a permanent magnet electrodynamic suspension (EDS) train. The synchronous traction mode based on long stators and track cable is described. A speed and position detection system is recommended. It...
This paper addresses the tracking control problem of robotic manipulators under a universal symmetry constraint framework in the presence of lumped uncertainties and external disturbances. Unlike conventional constrained control schemes that treat tr...
As a result of the energy crisis and further development of the electro-hydraulic actuator, double-pump direct driven hydraulics (DDH) was brought forward, which mainly comprises a servo motor, double fixed displacement pumps, a differential cylinde...
In this paper, we propose an optimized differential evolution algorithm based on kinematic limitations and structural complexity constraints to solve the trajectory tracking problem for a mobile manipulator robot. The traditional method mainly involv...
The separate control method of flippers and the movement of the mass center makes the active articulated tracked robot unable to realize higher-level motion and difficult to adapt to rough and complex obstacle terrain. In this paper, a new design met...
This paper presents a Neural Backstepping control strategy for trajectory tracking of a differential-drive mobile robot. The proposed approach combines a dynamic-level backstepping controller with a lightweight single-hidden-layer adaptive neural net...
This paper investigates the design of a missile seeker servo system combined with a guidance and control system. Firstly, a complete model containing a missile seeker servo system, missile guidance system, and missile control system (SGCS) was creati...
LFM signals are widely applied in radar, communication, sonar and many other fields. LFM signals received by these systems contain a lot of noise and outliers. In order to suppress the interference of strong impulse noise on target signals and realiz...
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