TABLE 1 - uploaded by Anugrah K Pamosoaji
Content may be subject to copyright.
Dynamics symbols and definitions
Source publication
This paper presents a Lyapunov-based switched trajectory tracking control design
for a rear-steered automated guided AGV (AGV). Given a moving reference whose
position and orientation have to be tracked by the AGV, the main objective of the
controller is to reduce AGV’s distance from the reference while adjusting its
orientation. The distance reduc...
Context in source publication
Context 1
... dynamics of the actuator is derived by the following steps. Note that the parameters used in the dynamics are described in Table 1. The torques applied to the driving and steering motors are formulated as í µí¼ dr = í µí°¼ dr í µí¼ ˙ dr + í µí°µ dr í µí¼ dr + í µí°¹ dr í µí± dr . ...
Similar publications
This work proposes an Input-Output linearization (IOL) trajectory tracking controller for an actuated octocopter UAV. The underactuated
octocopter dynamics is converted into actuated one using the differential flat outputs. The proposed controller for actuated octocopter UAV is
robustified using α Uncertainty and Disturbance Estimator (αUDE). The...
As vehicles transcend into higher levels of automation, a key factor that will determine a comfortable driving experience for the passengers will be the handling behaviour of the autonomous vehicles. Path planning will serve an important role in ensuring smooth and comfortable handling. The present study develops a well defined universal scale to d...
This paper addresses the trajectory tracking problem for a class of uncertain manipulator systems under the effect of external disturbances. The main challenges lie in the input constraints and the lack of measurements of joint velocities. An extend‐state‐observer is utilized to estimate the velocity signals; then, a neural‐network‐based adaptive c...
![Tracking error z11\documentclass[12pt]{minimal} \usepackage{amsmath}...](publication/381223957/figure/fig3/AS:11431281251108407@1718124064976/Tracking-error-z11documentclass12ptminimal-usepackageamsmath-usepackagewasysym_Q320.jpg){kind=tracking}
![Tracking error z12\documentclass[12pt]{minimal} \usepackage{amsmath}...](publication/381223957/figure/fig4/AS:11431281251133191@1718124065892/Tracking-error-z12documentclass12ptminimal-usepackageamsmath-usepackagewasysym_Q320.jpg){kind=tracking}
![Tracking error z13\documentclass[12pt]{minimal} \usepackage{amsmath}...](publication/381223957/figure/fig5/AS:11431281251118537@1718124066781/Tracking-error-z13documentclass12ptminimal-usepackageamsmath-usepackagewasysym_Q320.jpg){kind=tracking}
The environmental disturbances acting on marine surface vessels are naturally stochastic. The control performance may be seriously deteriorated if the stochastic sea loads are ignored in control design. In this paper, the trajectory tracking control problem for uncertain underactuated surface vessels exposed to stochastic disturbances under prescri...
The performance of the robotic manipulator is negatively impacted by outside disturbances and uncertain parameters. The system’s variables are also highly coupled, complex, and nonlinear, indicating that it is a multi-input, multi-output system. Therefore, it is necessary to develop a controller that can control the variables in the system in order...
