This paper focuses on the trajectory planning and trajectory tracking control of articulated tracked vehicles (ATVs). It utilizes the path planning method based on the Hybrid A-star and the minimum snap smoothing method to obtain the feasible kinemat...
Vehicle intelligence is an effective way to improve driving safety and comfort and reduce traffic accidents. The trajectory tracking control of unmanned vehicles is the core module of intelligent vehicles. As a redundant system, the X-by-wire electri...
Different from the vehicles and robots that move on the ground, complex and nonlinear track–wall interactions bring considerable difficulties to the accurate control of tracked wall-climbing robots due to the effect of gravity and adsorption. I...
Trajectory tracking control of input-constrained systems is an essential problem in many control applications, including robotics. In this paper, we propose a constrained tracking controller for input affine nonlinear systems with convex input constr...
To address the trajectory tracking issue of unmanned tracked vehicles, the majority of studies employ the Model Predictive Control (MPC). The MPC imposes high demands on model accuracy. Due to factors such as environmental interference, actuator cons...
This paper uses the adaptive dynamic programming (ADP) method to achieve optimal trajectory tracking control for quadrotors. Relying on an established mathematical model of a quadrotor, the approximate optimal trajectory tracking control, which consi...
This study proposes a receding horizon optimization-based docking control method to address the autonomy and safety challenge of underwater docking between manned submersibles and unmanned vehicles, facilitating the integration of docking trajectory...
In order to address the significant nonlinear dynamic characteristics and limited trajectory tracking accuracy of unmanned vehicles under cornering conditions, this paper proposes a trajectory tracking control strategy based on Adaptive Model Predict...
Autonomous underwater vehicles (AUVs) have been widely used to perform underwater tasks. Due to the environmental disturbances, underactuated problems, system constraints, and system coupling, AUV trajectory tracking control is challenging. Thus, fur...
Trajectory tracking control of unmanned surface vessels (USVs) has become a popular topic. Regarding the problem of ship collision avoidance encountered in trajectory tracking, more attention needs to be paid to the algorithm application, namely the...
This article summarizes the research significance and the development status of the unmanned ground tracked vehicles (UGTVs). According to the speed and steering principle of the UGTVs in plane motion, the kinematic state space equation of the vehicl...
This paper investigates the model-free trajectory tracking control problem for an autonomous underwater vehicle (AUV) subject to the ocean currents, external disturbances, measurement noise, model parameter uncertainty, initial tracking errors, and t...
Wheel loaders play a crucial role in daily production and transportation. With the rapid development of intelligence in passenger vehicles, freeing loader operators from high-risk and repetitive tasks has become a pressing issue. This paper presents...
Autonomous vehicle trajectory tracking control is one of the hot topics in the autonomous driving field. One of the most widely used control methods is MPC (Model Predictive Control). As the control system generally becomes more nonlinear and complex...
To ensure the accuracy and stability of intelligent-vehicle-trajectory tracking, a robust trajectory-tracking control strategy based on generalized Hamilton theory is proposed. Firstly, a dynamic Hamilton dissipative controller (DHDC) and trajectory-...
A walking trajectory tracking control approach for a walking electrohydraulic control system is developed to reduce the walking trajectory tracking deviation and enhance robustness. The model uncertainties are estimated by a designed state observer....
For intelligent vehicles, trajectory tracking control is of vital importance. However, due to the cut-in possibility of adjacent vehicles, trajectory planning of intelligent vehicles is challenging. Therefore, this paper proposes a trajectory trackin...
This paper addresses the issue of external unknown environmental interference affecting the trajectory tracking performance and driving stability of autonomous vehicles. This seriously impacts the performance and stability of the vehicle while drivin...
This paper examines the path-tracking control issue for tracked mobile robots (TMRs) operating in complex terrains, focusing on improving their autonomous operation capabilities. Considering the system’s complex dynamic model, environmental unc...
To improve the accuracy of tracking the trunk center-of-mass (CoM) trajectory and foot-end trajectory in a fully electrically driven quadruped robot, an efficient and practical new trajectory tracking control method is designed. The proposed trajecto...
Accurate trajectory tracking of quadrotor UAVs remains challenging due to highly nonlinear dynamics, model uncertainties, and time-varying external disturbances, which make it difficult to achieve both precise position tracking and stable attitude re...
To improve the automation accuracy and efficiency of the loader working device, this paper proposes a control strategy based on an adaptive backstepping algorithm to address the trajectory tracking control problem under strong nonlinearity, parameter...
The trajectory-tracking capability of autonomous mining trucks is critical for accomplishing transportation tasks efficiently. However, due to the diverse road surfaces and rugged terrains in open-pit mines, the existing vehicle dynamics models strug...
To resolve the problem of high-precision trajectory tracking control under interference conditions in a missile’s mid-guidance phase, according to the constructed nominal trajectory, an improved adaptive high-order sliding mode trajectory track...
A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude trackin...
To address the common issues of accuracy and stability in trajectory tracking tasks for autonomous vehicles, this study proposes an innovative composite control strategy that skillfully integrates lateral and longitudinal dynamic control. For lateral...
This study proposes a trajectory tracking approach for unmanned sailboats that integrates velocity and heading control using nonlinear model predictive control (NMPC). Unlike conventional methods, which typically rely on separate control strategies f...
Intelligent vehicle trajectory tracking exhibits problems such as low adaptability, low tracking accuracy, and poor robustness in complex driving environments with uncertain road conditions. Therefore, an improved method of adaptive model predictive...
The proposed work presents a Sliding Mode Controller (SMC) for trajectory tracking of a TurtleBot3 Burger mobile robot based on sliding mode. Trajectory tracking is performed in congested environments; therefore, an obstacle avoidance strategy is pre...
In this paper, an observer-based adaptive control method is investigated for the horizontal trajectory tracking of autonomous underwater vehicles (AUV) with input saturation and system disturbances. Firstly, the desired surge speed and trajectory ang...
To achieve high-precision trajectory tracking control for an underwater hexapod robot, this paper proposes a hierarchical control architecture. Firstly, a multi-rigid-body dynamic model for the robot is established based on the Newton-Euler method an...
A coordinated strategy is proposed to prevent interference between trajectory tracking control and stability control in wheel-driven autonomous vehicles. A tire cornering stiffness estimate model is developed using the recursive least squares approac...
Trajectory tracking is a key technology for precisely controlling autonomous vehicles. In this paper, we propose a trajectory-tracking method based on model predictive control. Instead of using the forward Euler integration method, the backward Euler...
To address the issue of insufficient trajectory tracking accuracy and the stability of distributed drive mining dump trucks under complex working conditions, this paper proposes a model predictive control (MPC) strategy based on genetic-particle swar...
Research on trajectory tracking control for climbing welding robots holds significant importance in the field of automated welding. However, existing trajectory tracking methods suffer from issues such as jitter and slow speed. In this paper, an impr...
The precise control of an aerial manipulator presents a formidable challenge due to the inherent mobility of its base, which is subject to both external disturbances and dynamic disturbances due to manipulator motions. In this paper, we introduce two...
In ocean environments with unknown complex disturbances, the control accuracy for an unmanned surface vehicle (USV) is severely challenged with an increase in task complexity. As the foundation for executing complex tasks, it is particularly importan...
In the field of automated technology research and development, trajectory tracking plays a crucial role in the energy consumption of the vehicle’s power battery. Reducing the deviation between the actual trajectory and the reference trajectory is the...
Quadrotors possess traits such as under-actuation, nonlinearity, and strong coupling. Quaternions are primarily used for attitude calculations in drones, with error quaternions seldom being employed directly in the control of specific quadcopter dron...
The autonomous driving is rapid developing recently and model predictive controls (MPCs) have been widely used in unmanned vehicle trajectory tracking. MPCs are advantageous because of their predictive modeling, rolling optimization, and feedback cor...
An adaptive control algorithm based on the RBF neural network (RBFNN) and nonlinear model predictive control (NMPC) is discussed for underwater vehicle trajectory tracking control. Firstly, in the off-line phase, the improved adaptive Levenberg–Marqu...
In order to improve the trajectory tracking accuracy of an Underwater Vehicle Manipulator System (UVMS) under uncertain disturbance conditions of ocean current, a Model-free Adaptive Control (MFAC) method was used. Combined with Radial Basis Function...
To overcome the difficulty in tracking the trajectory of an inspection robot inside a transformer, this paper proposes a distributed model predictive control method. First, the kinematics and dynamics models of a robot in transformer oil are establis...
This study presents a new adaptive trajectory tracking control scheme for a fully actuated Unmanned Surface Vehicle (USV) to track a common moving target region. In this control concept, the desired objective trajectory is specified as a moving regio...
Trajectory tracking and self-balancing capacity is crucial for an unmanned bicycle robot (UBR) applied in off-road trails and narrow space. However, self-balancing is hard to be guaranteed once the steering angle manipulates for the tracking task, bo...
A game theory based trajectory tracking control method is studied for the dual-objective optimization problem of trajectory tracking the accuracy and driving stability of driverless electric formula racing cars in high-speed trajectory conditions. Th...
In this paper, a trajectory tracking control strategy for low-speed car-like mobile robots (CLMRs) based on an extended state observer (ESO) and backstepping control is proposed to address the issue of trajectory tracking accuracy degradation caused...
This paper developed a new magnetorheological (MR) prosthetic knee joint using an MR damper as the brake. According to the gait data of healthy people walking on flat ground, the structure of a MR prosthetic knee joint was expounded in detail, and it...
This paper studies the trajectory tracking control problem of an autonomous underwater vehicle (AUV). A robust model predictive control (MPC) framework based on the implementation of the receding horizon is implemented to address the challenges of un...
The symmetry principle has significant guiding value in vehicle dynamics modeling and motion control. In complex driving scenarios, there are problems of low accuracy and large time delay in the trajectory tracking control of unmanned ground vehicles...
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