WebJan 1, 2024 · Tong Yang et al. proposed adaptive optimal motion control for uncertain underactuated mechatronic systems with actuator constraints. For some unknown dynamics of the underactuated... WebApr 1, 2016 · To ensure satisfactory tracking performance, a tracking controller is then designed by utilising the feedback linearisation technique, which is proven to achieve …

Motion planning and control Autonomous Motion - Max Planck Institute

WebJul 15, 2013 · where G represents the time-invariant linear dynamics of the piezo-based platform system and s denotes a differentiation operator.. 4.2. Design of Robust H ∞ Optimal Control. Multi-objective robust H ∞ optimal control is investigated in this section in order to achieve precision angle motion in the face of modeling uncertainty and … WebIn this paper, optimal control technique is implemented to such a system. First, the state space equations governing the motion are derived. The orientation error and the offset from a path form the states and the steering angle is the control input to the system. porting rbc manifold

Robust Optimal Output-Tracking Control of Constrained …

WebAug 25, 2024 · Motion Planning, Control and Coordination of Autonomous Systems. 1. Cubic spline based optimal motion planning for dynamic environment in Frenet Frame. • Designed a real-time cubic spline based ... Web14.2 H∞ OPTIMAL TRACKING CONTROL FOR NONLINEAR AFFINE SYSTEMS 315 theycanbeemployedincontrolofmanyreal-worldapplications,includingrobotmanipulators,mobile robots ... WebOct 17, 2011 · Optimal Tracking Control of Motion Systems Abstract: Tracking control of motion systems typically requires accurate nonlinear friction models, especially at low speeds, and integral action. However, building accurate nonlinear friction models is time … optical circuit switches