This study proposes a fixed-time precision tracking control scheme for unmanned surface vessels with complex disturbances and unknown system dynamics. The control scheme is based on a nonsingular fast terminal sliding mode and includes an adaptive fi...
This paper develops a totally new appointed-time integral barrier Lyapunov function-based trajectory tracking algorithm for a hovercraft in the presence of multiple performance constraints and model uncertainties. Firstly, an appointed-time performan...
As the complexity of Low-Earth-Orbit (LEO) satellite tasks and their performance requirements increase, higher demands are placed on satellites’ ability to track mission trajectories, including their accuracy, speed, and capacity to resist exte...
Electro-hydraulic servo pump-controlled systems have advantages such as energy saving and high integration and are widely applied in aerospace, engineering machinery, and other fields. However, the input and state delays introduced by drive circuit,...
Driverless electric formula racing cars are affected by nonlinear vehicle characteristics, perturbations, and parameter uncertainties during races, which can cause problems such as low accuracy and instability in trajectory tracking. Aiming to addres...
This paper introduces an event-triggered sigmoid prescribed performance control method, enhanced by an adaptive characteristic model, for tracking the trajectory of autonomous underwater vehicles (AUVs). The AUV model is simplified into a function re...
This article investigates a prescribed-time trajectory tracking control strategy for USVs considering marine environmental interferences and unmodeled dynamics. Firstly, a fixed-time extended state observer is introduced to quickly and accurately obs...
This manuscript mainly solves a fully actuated marine surface vessel prescribed performance trajectory tracking control problem with full-state constraints and input saturation. The entire control design process is based on a backstepping technique....
As a fundamental part of water management, water sampling treatments have recently been integrated into unmanned aerial vehicle (UAV) technologies and offer eco-friendly, cost-effective, and time-saving solutions while reducing the necessity for qual...
In view of the difficulties encountered when tuning parameters and the lack of anti-interference capabilities exhibited by high-precision trajectory-tracking control of quadrotor UAVs in complex dynamic environments, this paper proposes a fusion cont...
This paper is devoted to the problem of prescribed performance trajectory tracking control for symmetrical underactuated unmanned surface vessels (USVs) in the presence of model uncertainties and input quantization. By combining backstepping filter m...
Trajectory tracking for underactuated autonomous underwater vehicles (AUVs) is challenging due to coupling dynamics, modeling inaccuracies, and unknown disturbances. To tackle this, we propose a decoupling gaze-assisted prescribed performance control...
This study proposes a nonlinear adaptive optimal control method, the adaptive H2 control method, applied to the trajectory tracking problem of the wheeled mobile robot (WMR) with four-wheel mecanum wheels. From the perspective of solving mathematical...
In this paper, we address the trajectory-/target-tracking and obstacle-avoidance problem for nonholonomic mobile robots subjected to diamond-shaped velocity constraints and predefined output performance specifications. The proposed scheme leverages t...
Multiple Object Tracking (MOT) aims to detect and track multiple targets across consecutive video frames while preserving consistent object identities. While appearance-based approaches have achieved notable success, they often struggle in challengin...
This paper proposes a fixed-time prescribed performance control technique to address the challenge of precise trajectory tracking control for unmanned surface vessels (USVs) in the presence of external time-varying disturbances and input saturation....
In order to improve the real-time performance of the trajectory tracking of autonomous vehicles, this paper applies the alternating direction multiplier method (ADMM) to the receding optimization of model predictive control (MPC), which improves the...
This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering the model parameter uncertainties and various disturbances, the kinematic and dynamic models of the autono...
This paper proposes a novel neural network-based control algorithm with fixed-time performance constraints for manipulator systems in workspaces. The algorithm efficiently controls the manipulator’s trajectory tracking by tuning a preset perfor...
The performance of laser beams in tracking Lissajous scan trajectories is severely limited by beam jitter. To enhance the performance of fast steering mirror (FSM) control in tracking Lissajous scan trajectories, this paper proposed a fractional orde...
This research delves into the development and evaluation of two distinct controllers for a 3-DoF robotic arm in the context of Industry 4.0. Two primary control strategies are presented in the study. The first is a Fuzzy Logic Controller that utilize...
This paper introduces a novel leader–follower formation control strategy for autonomous vehicles, aimed at achieving precise trajectory tracking in uncertain environments. The approach is based on a graph guidance law that calculates the desire...
This paper proposes a novel active disturbance compensation framework for exactly positioning control of electro-hydraulic systems (EHSs) subject to parameter deviations, unknown dynamics, and uncertain external load without velocity measurement mech...
This study focuses on the use of eye-tracking technology to analyse the rider’s visual attention during racing on a Ducati Panigale V2 motorcycle. Using the TOBII Pro Glasses 2 system, the rider’s gaze dynamics were recorded, including fi...
Underwater gliders, as autonomous underwater vehicles, are integral to oceanographic research, environmental monitoring, and military applications. Given the intricate and ever-changing underwater environment, the precise management of an underwater...
Second-order Linear Active Disturbance Rejection Controller (SLADRC) is a powerful control technique. Ongoing research is focused on simplifying tuning procedures, extending applicability to handle more complex systems, and ensuring efficient real-ti...
In this paper, a sliding-mode control strategy incorporating prescribed features was systematically designed, resolving the dual challenges of trajectory tracking precision maintenance and disturbance attenuation for an AUV subjected to dynamic model...
This paper addresses the trajectory tracking problem for a six-degree-of-freedom (6-DOF) underwater manipulator subject to complex disturbances and input saturation. It proposes a fixed-time preset performance sliding mode control method considering...
The continuous reduction in critical dimensions and the escalating demands for higher throughput are driving motion platforms to operate under increasingly complex conditions, including multi-axis coupling, structural nonlinearities, and time-varying...
This paper addresses the issue of safe trajectory tracking for robotic manipulators operating in confined spaces that often exhibit asymmetric geometric structures, such as narrow passages or cluttered obstacle fields. We introduce an innovative mode...
This work presents the design and assessment of four control schemes for the monitoring and regulation of joint trajectories applied in the dynamic model of a SCORBOT-ER V plus robot, which includes the dynamics of the actuators, and the estimation o...
This paper presents a predefined-time fractional-order control for a quadrotor system subjected to perturbations. First, a fractional-order sliding manifold is proposed to ensure a predefined-time convergence of the tracking error. Second, a fraction...
Accurately and rapidly predicting marine drifter trajectories under conditions of information scarcity is critical for addressing maritime emergencies and conducting marine surveys with resource-limited unmanned vessels. Machine learning-based tracki...
A novel approximation-free adaptive prescribed performance control scheme for the longitudinal motion tracking of input and state constrained small fixed-wing UAVs is designed in this work. The proposed controller employs the adaptive prescribed perf...
A fixed-time global sliding mode control with prescribed performance is proposed for the varying center of mass parallel robot mobile platform with model uncertainties and external disturbances to improve the global robustness and convergence perform...
We aimed to quantify the prevalence of track and field sprinters competing at a world-class level in more than one discipline, and we describe the career characteristics of single- and double-discipline athletes in terms of peak performance and the a...
Modeling and controlling highly nonlinear, multivariable, unstable, coupled and underactuated systems are challenging problems to which a unique solution does not exist. Modeling and control of Unmanned Aerial Vehicles (UAVs) with four rotors fall in...
This paper presents a practical and straightforward control strategy for robotic manipulators with unknown dynamics to achieve prescribed tracking performance, which has implementation advantages compared with previous work. In particular, an improve...
This research addresses the challenge of formation control among multiple homogeneous autonomous underwater helicopters (AUHs) in the presence of external disturbances and complex dynamic characteristics. The study introduces a novel approach by inte...
In dual-redundancy electro-hydrostatic actuators (EHAs), the dual pumps are mainly designed for safety, where the cylinder is controlled mainly by one pump while the other one is standby for redundancy. However, such a strategy is basically like a si...
This study investigated the accuracy and precision of a commercially available PNT solution that uses DGNSS-SBAS technology. Time and position data were sampled at a frequency of 20Hz during both a short and long trajectory of a simulated controlled...
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....
This research presents a nonlinear adaptive optimal control approach to the trajectory tracking problem of a swarm of autonomous mobile robots. Mathematically, finding an analytical adaptive control solution that meets the H2 performance index for th...
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...
Aiming at the unmanned surface vehicle (USV) trajectory tracking control under complex time-varying environment, a predefined-time convergence sliding mode disturbance observer (PTC-SMO) is introduced to effectively handle the internal parameter unce...
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...
The dynamics model of the unmanned underwater vehicle (UUV) system is highly nonlinear, multi-degree-of-freedom, strongly coupled, and time-varying. Its motion control has been a complex problem due to the unknown information about and the uncertaint...
A closed-form H2 approach of a nonlinear trajectory tracking design and practical implementation of a swarm of wheeled mobile robots (WMRs) is presented in this paper. For the nonlinear trajectory tracking problem of a swarm of WMRs, the design purpo...
Pedestrian trajectory prediction is crucial for developing collision avoidance algorithms in autonomous driving systems, aiming to predict the future movement of the detected pedestrians based on their past trajectories. The traditional methods for p...
Single lane changing is one of the typical scenarios in vehicle driving. Planning a suitable single lane changing trajectory and tracking that trajectory accurately is very important for intelligent vehicles. The contribution of this study is twofold...
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