Дисертації з теми "Tracking trajectory"
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1
Bereza-Jarocinski, Robert, and Therese Persson. "Autonomous Trajectory Tracking and Obstacle Avoidance." Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-214704.
Анотація:
Autonomous ground vehicles (AGVs), such as selfdrivingcars, are expected to become a central part of infrastructurein future smart cities. There are many technicalchallenges with making vehicles autonomous. They have to beable to find their way in both free environments as well asin environments with obstacles and other vehicles. To achievethis, they require many sensors to analyze their surroundings.The aim with this paper is to investigate the sensor typesnormally used in AGVs, describe their functionality and alsoprovide a model of how an autonomous vehicle can navigate indifferent environments, and verify this model through simulation.Lidar, Radar, accelerometers, gyroscopes, positioning systems andcameras are the sensors that are listed. It is described whatthey measure and what this data can be used for. To model theautonomous vehicle, a car-like vehicle model is used. A trajectorytracking controller is proposed, together with a proof of itsstability using Lyapunov functions. A way to avoid stationaryobstacles using potential fields is also described. Both the trackingcontroller and the obstacle avoidance controller are shown towork as expected through simulation. The used model only allowsfor the vehicle to travel in directions within a span of ±45 of itsforward direction. Lastly, a new application for AGVs in smartcities is also proposed.
2
Holgersson, Anton, and Johan Gustafsson. "Trajectory Tracking for Automated Guided Vehicle." Thesis, Linköpings universitet, Reglerteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-176423.
Анотація:
The purpose of this thesis is to investigate different control strategies on a differential drive vehicle. The vehicle should be able to drive in turns at high speed and slowly when it should park next to a charger. In both these cases, good precision in both orientation and distance to the path is important. A PID and an LQ controller have been implemented for this purpose. The two controllers were first implemented in a simulation environment. After implementing the controllers on the system itself, tests to evaluate the controllers were made to imitate real-life situations. This includes tests regarding driving with different speeds in different turns, tests with load distributions, and tests with stopping accuracy. The existing controller on the system was also tested and compared to the new controllers. After evaluating the controllers, it was stated that the existing controller was the most robust. It was not affected much by the load distribution compared to the new controllers. However, the LQ controller was slightly better in most cases, even though it was highly affected by the load distribution. The PID controller performed best regarding stopping accuracy but was the least robust controller by the three. Since the existing controller has a similar performance as the LQ controller but is more robust, the existing controller was chosen as the best one.
3
Bereza, Robert, and Therese Persson. "Autonomous Trajectory Tracking and Obstacle Avoidance." Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-214704.
Анотація:
Autonomous ground vehicles (AGVs), such as selfdrivingcars, are expected to become a central part of infrastructurein future smart cities. There are many technicalchallenges with making vehicles autonomous. They have to beable to find their way in both free environments as well asin environments with obstacles and other vehicles. To achievethis, they require many sensors to analyze their surroundings.The aim with this paper is to investigate the sensor typesnormally used in AGVs, describe their functionality and alsoprovide a model of how an autonomous vehicle can navigate indifferent environments, and verify this model through simulation.Lidar, Radar, accelerometers, gyroscopes, positioning systems andcameras are the sensors that are listed. It is described whatthey measure and what this data can be used for. To model theautonomous vehicle, a car-like vehicle model is used. A trajectorytracking controller is proposed, together with a proof of itsstability using Lyapunov functions. A way to avoid stationaryobstacles using potential fields is also described. Both the trackingcontroller and the obstacle avoidance controller are shown towork as expected through simulation. The used model only allowsfor the vehicle to travel in directions within a span of ±45 of itsforward direction. Lastly, a new application for AGVs in smartcities is also proposed.
4
Jamieson, Jonathan. "Trajectory generation and tracking for drone racing." Thesis, University of Strathclyde, 2018. http://digitool.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=29520.
Анотація:
In this thesis trajectory generation for quadrotors, a type of rotorcraft UAV (Unmanned Aerial Vehicle), is considered with two diverent methods. The first applies the Maximum Principle of optimal control to derive closed-form analytical functions that describe the translational states for two different cases of nonholonomic constraints. Parametric optimisation is used to find the trajectories. Reachable sets are found numerically and a simple obstacle avoidance method is demonstrated for both cases. The second motion planning method found trajectories with polynomial basis functions that are parametrised by an abstract function between zero and one. This virtual time domain trajectory satisfied conditions placed on the boundary derivatives and followed a sequenceof desired waypoints. A process for finding a mapping function that converts the virtual domain trajectory into one on the standard time domain is developed to minimise the trajectory time whilst ensuring the motion remained feasible by enforcing bounds on the thrust required from each rotor. An algorithm that uses additional waypoints where necessary to ensure the trajectory does not collide with the gates that define the course is developed. A method for minimising the accumulated angular acceleration of the heading angle whilst remaining within a desired tolerance of the velocity vector angle is also described. Trajectory tracking is considered by modifying an existing quadrotor tracking controller on the Special Euclidean group SE(3) to include a Linear Extended State Observer that estimates and counteracts translational disturbances. The modified controller is shown to reduce the position tracking error in the presence of square wave, sinusoidal and wind disturbances.
5
Liu, Yong. "NEURAL ADAPTIVE NONLINEAR TRACKING USING TRAJECTORY LINEARIZATION." Ohio University / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1177092159.
6
Sato, Kazuhiro. "An Algebraic Analysis Approach to Trajectory Tracking Control." 京都大学 (Kyoto University), 2014. http://hdl.handle.net/2433/188865.
7
Chebly, Alia. "Trajectory planning and tracking for autonomous vehicles navigation." Thesis, Compiègne, 2017. http://www.theses.fr/2017COMP2392/document.
Анотація:
Les travaux de cette thèse portent sur la navigation des véhicules autonomes, notamment la planification de trajectoires et le contrôle du véhicule. En premier lieu, un modèle véhicule plan est développé en utilisant une technique de modélisation qui assimile le véhicule à un robot constitué de plusieurs corps articulés. La description géométrique du véhicule est basée sur la convention de Denavit-Hartenberg modifiée. Le modèle dynamique du véhicule est ensuite calculé en utilisant la méthode récursive de Newton-Euler, qui est souvent utilisée dans le domaine de robotique. La validation du modèle a été conduite sur le simulateur Scaner-Studio développé par Oktal pour les applications automobiles. Le modèle du véhicule développé est ensuite utilisé pour la synthèse de lois de commande couplées pour les dynamiques longitudinale et latérale du véhicule. Deux correcteurs sont proposés dans ce travail : le premier est basé sur les techniques de commande par Lyapunov, le second utilise une approche ”Immersion et Invariance”. Ces deux contrôleurs ont pour objectifs de suivre une trajectoire de référence donnée avec un profil de vitesse désirée, tout en tenant compte du couplage existant entre les dynamiques longitudinale et latérale du véhicule. En effet, le contrôle couplé est nécessaire pour garantir la sécurité du véhicule autonome surtout lors de l’exécution des manœuvres couplées comme les manœuvres de changement de voie, les manœuvres d’évitement d’obstacles et les manœuvres exécutées dans les situations de conduite critiques. Les contrôleurs développés ont été validés en simulation sous Matlab/Simulink en utilisant des données expérimentales. Par la suite, ces contrôleurs ont été validés expérimentalement en utilisant le véhicule démonstrateur robotisé (Renault-Zoé) du laboratoire Heudiasyc financé par l’Equipex Robotex. En ce qui concerne la planification de trajectoires, une méthode de planification basée sur la méthode des tentacules sous forme de clothoides a été développée. En outre, une méthode de planification de manœuvres qui s’intéresse essentiellement à la manœuvre de dépassement a été mise en place, afin d’améliorer et de compléter la méthode locale des tentacules. Le planificateur local et le planificateur de manœuvres ont été ensuite combinés pour établir une stratégie de navigation complète. Cette stratégie a été validée par la suite sous Matlab/Simulink en utilisant le modèle de véhicule développé et le contrôleur basé sur LyapunovIn this thesis, the trajectory planning and the control of autonomous vehicles are addressed. As a first step, a multi-body modeling technique is used to develop a four wheeled vehicle planar model. This technique considers the vehicle as a robot consisting of articulated bodies. The geometric description of the vehicle system is derived using the modified Denavit Hartenberg parameterization and then the dynamic model of the vehicle is computed by applying a recursive method used in robotics, namely Newton-Euler based Algorithm. The validation of the developed vehicle model was then conducted using an automotive simulator developed by Oktal, the Scaner-Studio simulator. The developed vehicle model is then used to derive coupled control laws for the lateral and the longitudinal vehicle dynamics. Two coupled controllers are proposed in this thesis: In the first controller, the control is designed using Lyapunov control techniques while in the second one an Immersion and Invariance approach is used. Both of the controllers aim to ensure a robust tracking of the reference trajectory and the desired speed while taking into account the strong coupling between the lateral and the longitudinal vehicle dynamics. In fact, the coupled controller is a key step for the vehicle safety handling, especially in coupled maneuvers such as lane-change maneuvers, obstacle avoidance maneuvers and combined maneuvers in critical driving situations. The developed controllers were validated in simulation under Matlab/Simulink using experimental data. Subsequently, an experimental validation of the proposed controllers was conducted using a robotized vehicle (Renault-ZOE) present in the Heudiasyc laboratory within the Equipex Robotex project. Concerning the trajectory planning, a local planning method based on the clothoid tentacles method is developed. Moreover, a maneuver planning strategy focusing on the overtaking maneuver is developed to improve and complete the local planning approach. The local and the maneuver planners are then combined in order to establish a complete navigation strategy. This strategy is then validated using the developed robotics vehicle model and the Lyapunov based controller under Matlab/Simulink
8
Glamheden, Mikael, and Simon Eriksson. "Autonomous Trajectory Tracking for a Differential Drive Vehicle." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-239351.
Анотація:
This paper explores controlling a two-wheeled differential drive vehicle using path planning algorithms and potential fields in order to track a target area while avoiding obstacles. Additionally, formation control was investigated using potential fields and a virtual structure approach separately. Finally, analysis of communication constraints in the form of sampling, disturbances and quantization are taken into account and theoretical or analysis results are given. It was concluded that the potential fields method result in an intuitive and dynamic controller that can be used to navigate within a large-scale and dynamic environment, as well as be used for formation control. The virtual structure approach is more robust when dealing with formation control, but it does not consider obstacle avoidance on its own.
9
Sansom, Eleanor Kate. "Tracking Meteoroids in the Atmosphere: Fireball Trajectory Analysis." Thesis, Curtin University, 2016. http://hdl.handle.net/20.500.11937/55061.
Анотація:
This thesis improves and develops algorithms for fireball trajectory analysis. Stochastic estimators outside the current field of fireball modelling have been applied, from Kalman filters to 3D particle filters. These techniques are fully automated and rigorously incorporate errors, providing a means to routinely analyse fireball data in an unbiased manner.
10
Kahale, Elie. "Planification et commande d'une plate-forme aéroportée stationnaire autonome dédiée à la surveillance des ouvrages d'art." Thesis, Evry-Val d'Essonne, 2014. http://www.theses.fr/2014EVRY0016/document.
Анотація:
Aujourd'hui, l'inspection des ouvrages d'art est réalisée de façon visuelle par des contrôleurs sur l'ensemble de la structure. Cette procédure est couteuse et peut être particulièrement dangereuse pour les intervenants. Pour cela, le développement du système de vision embarquée sur des drones est privilégié ces jours-ci afin de faciliter l'accès aux zones dangereuses.Dans ce contexte, le travail de cette thèse porte sur l'obtention des méthodes originales permettant la planification, la génération des trajectoires de référence, et le suivi de ces trajectoires par une plate-forme aéroportée stationnaire autonome. Ces méthodes devront habiliter une automatisation du vol en présence de perturbations aérologiques ainsi que des obstacles. Dans ce cadre, nous nous sommes intéressés à deux types de véhicules aériens capable de vol stationnaire : le dirigeable et le quadri-rotors.Premièrement, la représentation mathématique du véhicule volant en présence du vent a été réalisée en se basant sur la deuxième loi de Newton. Deuxièmement, la problématique de génération de trajectoire en présence de vent a été étudiée : le problème de temps minimal est formulé, analysé analytiquement et résolu numériquement. Ensuite, une stratégie de planification de trajectoire basée sur les approches de recherche opérationnelle a été développée.Troisièmement, le problème de suivi de trajectoire a été abordé. Une loi de commande non-linéaire robuste basée sur l'analyse de Lyapunov a été proposée. En outre, un pilote automatique basée sur les fonctions de saturations pour un quadri-rotors a été développée.Les méthodes et algorithmes proposés dans cette thèse ont été validés par des simulationsToday, the inspection of structures is carried out through visual assessments effected by qualified inspectors. This procedure is very expensive and can put the personal in dangerous situations. Consequently, the development of an unmanned aerial vehicle equipped with on-board vision systems is privileged nowadays in order to facilitate the access to unreachable zones.In this context, the main focus in the thesis is developing original methods to deal with planning, reference trajectories generation and tracking issues by a hovering airborne platform. These methods should allow an automation of the flight in the presence of air disturbances and obstacles. Within this framework, we are interested in two kinds of aerial vehicles with hovering capacity: airship and quad-rotors.Firstly, the mathematical representation of an aerial vehicle in the presence of wind has been realized using the second law of newton.Secondly, the question of trajectory generation in the presence of wind has been studied: the problem of minimal time was formulated, analyzed analytically and solved numerically. Then, a strategy of trajectory planning based on operational research approaches has been developed.Thirdly, the problem of trajectory tracking was carried out. A nonlinear robust control law based on Lyapunov analysis has been proposed. In addition, an autopilot based on saturation functions for quad-rotor crafts has been developed.All methods and algorithms proposed in this thesis have been validated through simulations
11
Cooper, David Maurice. "Nonlinear tracking by trajectory regulation control using backstepping method." Ohio : Ohio University, 2005. http://www.ohiolink.edu/etd/view.cgi?ohiou1125370268.
12
Sakurama, Kazunori. "Trajectory Tracking Control of Hamiltonian and Hybrid Control Systems." 京都大学 (Kyoto University), 2004. http://hdl.handle.net/2433/147576.
13
Petropoulakis, L. "Design of digital trajectory tracking systems for robotic manipulators." Thesis, University of Salford, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.384976.
14
Barker, Drew R. (Drew Richard) 1981. "Robust randomized trajectory planning for satellite attitude tracking control." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36173.
Анотація:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2006.Includes bibliographical references (p. 121-125).
This thesis presents a novel guidance strategy that uses a randomized trajectory planning algorithm in a closed-loop fashion to provide robust motion planning and execution. By closing the guidance, navigation, and control loop around a randomized trajectory planning algorithm, a robotic vehicle can autonomously maneuver through a field of moving obstacles in a robust manner. The guidance strategy provides executable plans that are robust to known error sources when supplied with an estimate of the initial state, the goal, the predicted locations of obstacles, and bounds on error sources affecting the execution of a planned trajectory. The planning function presented in this thesis extends the Rapidly-exploring Random Tree algorithm to dynamic environments by exploring the configuration- x-time space using a node selection metric based on the maneuvering capability of the vehicle. The guidance strategy and the new randomized trajectory planning algorithm are applied to a challenging satellite attitude guidance problem in simulation.
by Drew Richard Barker.
S.M.
15
Cooper, David. "Nonlinear Tracking by Trajectory Regulation Control using Backstepping Method." Ohio University / OhioLINK, 2005. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1125370268.
16
Milburn, Tyler. "Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking." The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1532078119456277.
17
Dola, Lorris. "Biomimetic trajectory tracking by means of event-based control." Thesis, KTH, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-142842.
Анотація:
Flying insects are able to accomplish unprecedented flight by regulating their optic flow which is the velocty to which the environment scrolls in front of their eyes. This approach can be correlated to an event-based control where an event is generated according to the change of the environment. The event-based control allows to use a very few updates of the control to reach an objective. In order to mimic the insect behavior, we propose to study and apply an event-based approach. the event-based control is simulated on a miniature direct current motor linked to a propeller and experiment on a real one. We also study different controllers: a event-based PI controller and a state-feedback controller. A special attenntion is given to the power consumption of the control in term of energy and computational resources. We propose to lower the sampling frequency of the direct current motor during the experimentation to reduce the power consumption and we estimate the propeller velocity in order to get rid of the velocity sensor.
18
Moriello, Lorenzo <1985>. "Online Trajectory Planning for Vibration Suppression and Perfect Tracking." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amsdottorato.unibo.it/7432/1/PHD_Thesis_Moriello.pdf.
Анотація:
In this thesis the problem of trajectory planning for automatic machines is addressed, considering in particular the problem of vibration suppression and perfect tracking. Two different trajectory generators based on dynamic filters are developed and implemented. These novel trajectory planners are designed respectively for residual vibrations suppression and perfect tracking of periodic trajectories. Both solutions are very effective and easy to implement, exploiting the realization of dynamic filters by means of FIR filters.
In the first part of the thesis the problem of residual vibrations in motion control of robots is addressed. In a review fashion the most widespread feed-forward techniques for residual vibration suppression are analyzed in detail and implemented in simulation. Moreover all the analysis are performed with a control system perspective in order to give a unified point of view allowing to compare all the solutions despite their differences.
In Chapter 5 a novel trajectory generator based on Exponential Filters is presented, analyzed and compared with the most commonly used feed-forward techniques for vibration suppression, proving comparable performances with the state of the art. The analysis and comparison procedure is performed both in simulation and in experimental activities. This new method is developed first for simple SISO LTI systems and then extended to MIMO systems.
In Chapter 6 a new repetitive control scheme based on B-Spline Trajectory Generator that exploits dynamic filters is presented. The novel scheme integrates the trajectory generator and the repetitive controller in a single discrete time feedback loop achieving perfect tracking for periodic motions.
In appendix, the development of a 6-axis Force/Torque sensor for underwater activities based on optoelectronic components is reported. The description covers the entire process from the concept to the development of a simulation model and finally to the prototype realization, along with an extensive experimental activity.
19
Moriello, Lorenzo <1985>. "Online Trajectory Planning for Vibration Suppression and Perfect Tracking." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amsdottorato.unibo.it/7432/.
Анотація:
In this thesis the problem of trajectory planning for automatic machines is addressed, considering in particular the problem of vibration suppression and perfect tracking. Two different trajectory generators based on dynamic filters are developed and implemented. These novel trajectory planners are designed respectively for residual vibrations suppression and perfect tracking of periodic trajectories. Both solutions are very effective and easy to implement, exploiting the realization of dynamic filters by means of FIR filters.
In the first part of the thesis the problem of residual vibrations in motion control of robots is addressed. In a review fashion the most widespread feed-forward techniques for residual vibration suppression are analyzed in detail and implemented in simulation. Moreover all the analysis are performed with a control system perspective in order to give a unified point of view allowing to compare all the solutions despite their differences.
In Chapter 5 a novel trajectory generator based on Exponential Filters is presented, analyzed and compared with the most commonly used feed-forward techniques for vibration suppression, proving comparable performances with the state of the art. The analysis and comparison procedure is performed both in simulation and in experimental activities. This new method is developed first for simple SISO LTI systems and then extended to MIMO systems.
In Chapter 6 a new repetitive control scheme based on B-Spline Trajectory Generator that exploits dynamic filters is presented. The novel scheme integrates the trajectory generator and the repetitive controller in a single discrete time feedback loop achieving perfect tracking for periodic motions.
In appendix, the development of a 6-axis Force/Torque sensor for underwater activities based on optoelectronic components is reported. The description covers the entire process from the concept to the development of a simulation model and finally to the prototype realization, along with an extensive experimental activity.
20
Moody, Leigh. "Sensors, measurement fusion and missile trajectory optimisation." Thesis, Cranfield University; College of Defence Technology; Department of Aerospace, Power and Sensors, 2003. http://hdl.handle.net/1826/778.
Анотація:
When considering advances in “smart” weapons it is clear that air-launched
systems have adopted an integrated approach to meet rigorous requirements,
whereas air-defence systems have not. The demands on sensors, state
observation, missile guidance, and simulation for air-defence is the subject of
this research. Historical reviews for each topic, justification of favoured
techniques and algorithms are provided, using a nomenclature developed to unify these disciplines. Sensors selected for their enduring impact on future systems are described and simulation models provided. Complex internal systems are reduced to simpler models capable of replicating dominant features, particularly those that adversely effect state observers.
Of the state observer architectures considered, a distributed system comprising
ground based target and own-missile tracking, data up-link, and on-board
missile measurement and track fusion is the natural choice for air-defence. An
IMM is used to process radar measurements, combining the estimates from
filters with different target dynamics. The remote missile state observer
combines up-linked target tracks and missile plots with IMU and seeker data to
provide optimal guidance information.
The performance of traditional PN and CLOS missile guidance is the basis
against which on-line trajectory optimisation is judged. Enhanced guidance
laws are presented that demand more from the state observers, stressing the
importance of time-to-go and transport delays in strap-down systems
employing staring array technology. Algorithms for solving the guidance twopoint
boundary value problems created from the missile state observer output
using gradient projection in function space are presented.
A simulation integrating these aspects was developed whose infrastructure,
capable of supporting any dynamical model, is described in the air-defence
context. MBDA have extended this work creating the Aircraft and Missile
Integration Simulation (AMIS) for integrating different launchers and missiles.
The maturity of the AMIS makes it a tool for developing pre-launch algorithms
for modern air-launched missiles from modern military aircraft.
21
Bayar, Gokhan. "Trajectory Tracking Control Of Unmanned Ground Vehicles In Mixed Terrain." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615105/index.pdf.
Анотація:
Mobile robots are commonly used to achieve tasks involving tracking a desired trajectory and following a predefined path in different types of terrains that have different surface characteristics. A mobile robot can perform the same navigation task task over different surfaces if the tracking performance and accuracy are not essential. However, if the tracking performance is the main objective, due to changing the characteristics of wheel-ground interaction, a single set of controller parameters or an equation of motion might be easily failing to guarantee a desired performance and accuracy. The interaction occurring between the wheels and ground can be integrated into the system model so that the performance of the mobile robot can be enhanced on various surfaces. This modeling approach related to wheel-ground interaction can also be incorporated into the motion controller. In this thesis study, modeling studies for a two wheeled differential drive mobile robot and a steerable four-wheeled robot vehicle are carried out. A strategy to achieve better tracking performance for a differential drive mobile robot is developed by introducing a procedure including the effects of external wheel forcesi.e, traction, rolling and lateral. A new methodology to represent the effects of lateral wheel force is proposed. An estimation procedure to estimate the parameters of external wheel forces is also introduced. Moreover, a modeling study that is related to show the effects of surface inclination on tracking performance is performed and the system model of the differential drive mobile robot is updated accordingly. In order to accomplish better trajectory tracking performance and accuracy for a steerable four-wheeled mobile robot, a modeling work that includes a desired trajectory generator and trajectory tracking controller is implemented. The slippage is defined via the slip velocities of steerable front and motorized rear wheels of the mobile robot. These slip velocities are obtained by using the proposed slippage estimation procedure. The estimated slippage information is then comprised into the system model so as to increase the performance and accuracy of the trajectory tracking tasks. All the modeling studies proposed in this study are tested by using simulations and verified on experimental platforms.
22
Wu, Lan. "Multi-view hockey tracking with trajectory smoothing and camera selection." Thesis, University of British Columbia, 2008. http://hdl.handle.net/2429/2402.
Анотація:
We address the problem of multi-view multi-target tracking using multiple stationary cameras in the application of hockey tracking and test the approach with data from two cameras. The system is based on the previous work by Okuma et al. [50]. We replace AdaBoost detection with blob detection in both image coordinate systems after background subtraction. The sets of blob-detection results are then mapped to the rink coordinate system using a homography transformation. These observations are further merged into the final detection result which will be incorporated into the particle filter. In addition, we extend the particle filter to use multiple observation models, each corresponding to a view. An observation likelihood and a reference color model are also maintained for each player in each view and are updated only when the player is not occluded in that view. As a result of the expanded coverage range and multiple perspectives in the multi-view tracking, even when the target is occluded in one view, it still can be tracked as long as it is visible from another view. The multi-view tracking data are further processed by trajectory smoothing using the Maximum a posteriori smoother. Finally, automatic camera selection is performed using the Hidden Markov Model to create personalized video programs.
23
Allaoui, Chafik. "Evolutionary design of digital trajectory-tracking controllers for robotic manipulators." Thesis, University of Salford, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.299204.
24
Migchelbrink, Matthew. "Sliding mode control trajectory tracking implementation on underactuated dynamic systems." Thesis, Kansas State University, 2014. http://hdl.handle.net/2097/18245.
Анотація:
Master of ScienceDepartment of Mechanical Engineering
Warren N. White
The subject of linear control is a mature subject that has many proven powerful techniques. Recent research generally falls into the area of non-linear control. A subsection of non-linear control that has garnered a lot of research recently has been in underactuated dynamic systems. Many applications of the subject exist in robotics, aerospace, marine, constrained systems, walking systems, and non-holonomic systems. This thesis proposes a sliding mode control law for the tracking control of an underactuated dynamic system. A candidate Lyapunov function is used to build the desired tracking control. The proposed control method does not require the integration of feedback as does its predecessor. The proposed control can work on a variety of underactuated systems. Its predecessor only worked on those dynamic systems that are simply underactuated (torques acting on some joints, no torques acting on others). For dynamic systems that contain a roll without slip constraint, often a desired trajectory to follow is related to dynamic coordinates through a non-holonomic constraint. A navigational control is shown to work in conjunction with the sliding mode control to allow tracking of these desired trajectories. The methodology is applied through simulations to a holonomic case of the Segbot, an inverted cart-pole, a non-holonomic case of Segbot, and a rolling wheel. The methodology is implemented on an actual Segbot and shown to provide more favorable tracking results than linear feedback gains.
25
Ogawa, Mariana Akeme. "Predictive Control Applied to Trajectory Tracking of Wheeled Mobile Robot." Universidade Federal do CearÃ, 2014. http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=11933.
Анотація:
CoordenaÃÃo de AperfeÃoamento de Pessoal de NÃvel SuperiorThis work proposes a study and application of advanced controller to trajectory tracking of wheeled mobile robots. This kind of problem is a challenger for controllers once its models has two inputs and three outputs and is a non-linear model. In the literature there are various solutions to wheeled mobile robots trajectory tracking, among them the Model Predictive Control (MPC) with linearization model and a non linear control which in this work will be nominated as Klancar Controller. The Predictive Controllers can be applied efficiently in plants which has multiple inputs an multiple outputs, in situation that a future reference trajectory is known and systems with input and output constraints . However, the main disadvantage of MPC is the high computational effort which limits its practical application. Thus, this specific controller uses the plants linearization model. On the other hand, the Klancar Controller may be more efficient than the ones based on linear models, once the model is non linear. However, its solution, by definition, does not match the optimized criteria which can be a disadvantage mainly in systems that has constrains and a known future reference. Furthermore, this work proposes the application of the Predictive Control Extended Prediction Self Adaptive Control (EPSAC) to wheeled mobile robot trajectory tracking. This control strategy uses explicitly the non linear robot model, future reference, constraints on the variables and has a optimized solution. And, to the matter of this work, it has not been found reports of the EPSAC applied in mobile robotics, and is thus an unprecedented application. Simulation results are presented comparing the controllers studied using performance indices. Else, the controllers were applied in a mobile robot.
Este trabalho propÃe o estudo e aplicaÃÃo de controladores avanÃados ao seguimento de trajetÃrias de robÃs mÃveis com rodas. Este tipo de problema à bastante desafiador do ponto de vista de controle uma vez que o modelo tem duas entradas e trÃs saÃdas, alÃm disso, trata-se de um modelo nÃo linear. Na literatura existem diversas soluÃÃes para o controle de trajetÃria de robÃs mÃveis, dentre eles tem-se o Controle Preditivo Baseado em Modelo (MPC) por meio de modelos linearizados e um controlador nÃo linear denominado neste trabalho de controlador de Klancar. Os controladores preditivos podem ser aplicados de forma eficiente em plantas com modelos multivariÃveis, em situaÃÃes na qual a trajetÃria futura de referÃncia à conhecida e em sistemas com restriÃÃes nas vaiÃveis de entrada e de saÃda. PorÃm, a principal desvantagem do MPC linearizado à o alto custo computacional o que limita as aplicaÃÃes prÃticas. AlÃm disso, esse controlador especÃfico utiliza um modelo linearizado da planta. Por outro lado, o controlador de Klancar pode ser mais eficiente que os baseados em modelos lineares, devido Ãs nÃo linearidades inerentes do modelo. No entanto, a sua soluÃÃo, por definiÃÃo, nÃo corresponde a critÃrios Ãtimos o que pode representar uma desvantagem principalmente em sistemas com restriÃÃes e referÃncia futura conhecida. AlÃm disso, neste trabalho à proposta a aplicaÃÃo do controle preditivo EPSAC (Extended Prediction Self Adaptive Control) para o controle de seguimento de trajetÃrias. Esta estratÃgia utiliza de forma explÃcita o modelo nÃo linear do robÃ, a referÃncia futura, as restriÃÃes nas variÃveis do robà e soluÃÃo corresponde a um critÃrio Ãtimo. Atà onde foi pesquisado pelo autor deste trabalho, nÃo existem relatos da utilizaÃÃo do EPSAC na robÃtica mÃvel, sendo desta forma uma aplicaÃÃo inÃdita. Resultados de simulaÃÃo sÃo apresentados comparando os controladores estudados, utilizando Ãndices de desempenhos. AlÃm disso, os mesmo foram implementados em um robà mÃvel.
26
Roberts, Jonathan Michael. "Attentive visual tracking and trajectory estimation for dynamic scene segmentation." Thesis, University of Southampton, 1994. https://eprints.soton.ac.uk/250163/.
Анотація:
Intelligent Co-Pilot Systems (ICPS) offer the next challenge to vehicle-highway automation. The key to ICPSs is the detection of moving objects (other vehicles) from the moving observer using a visual sensor. The aim of the work presented in this thesis was to design and implement a feature detection and tracking strategy that is capable of tracking image features independently, in parallel, and in real-time and to cluster/segment features utilising the inherent temporal information contained within feature trajectories. Most images contain areas that are of little or no interest to vision tasks. An attentive, data-driven, approach to feature detection and tracking is proposed which aims to increase the efficiency of feature detection and tracking by focusing attention onto relevant regions of the image likely to contain scene structure. This attentive algorithm lends itself naturally to parallelisation and results from a parallel implementation are presented. A scene may be segmented into independently moving objects based on the assumption that features belonging to the same object will move in an identical way in three dimensions (this assumes objects are rigid). A model for scene segmentation is proposed that uses information contained within feature trajectories to cluster, or group, features into independently moving objects. This information includes: image-plane position, time-to-collision of a feature with the image-plane, and the type of motion observed. The Multiple Model Adaptive Estimator (MMAE) algorithm is extended to cope with constituent filters with different states (MMAE2) in an attempt to accurately estimate the time-to-collision of a feature and provide a reliable idea of the type of motion observed (in the form of a model belief measure). Finally, poor state initialisation is identified as a likely prime cause for poor Extended Kalman Filter (EKF) performance (and hence poor MMAE2 performance) when using high order models. The idea of the neurofuzzy initialised EKF (NF-EKF) is introduced which attempts to reduce the time for an EKF to converge by improving the accuracy of the EKF's initial state estimates.
27
Maji, Abhishek. "Learning model predictive control with application to quadcopter trajectory tracking." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-278211.
Анотація:
In thiswork, we develop a learning model predictive controller (LMPC) for energy-optimaltracking of periodic trajectories for a quadcopter. The main advantage of this controller isthat it is “reference-free”. Moreover, the controller is able to improve its performance overiterations by incorporating learning from the previous iterations. The proposed learningmodel predictive controller aims to learn the “best” energy-optimal trajectory over timeby learning a terminal constraint set and a terminal cost from the history data of previousiterations. We have shown howto recursively construct terminal constraint set and terminalcost as a convex hull and a convex piece-wise linear approximation of state and inputtrajectories of previous iterations, respectively. These steps allow us to formulate theonline planning problem for the controller as a convex optimization program, therebyavoiding the complex combinatorial optimization problems that alternative formulationsin the literature need to solve. The data-driven terminal constraint set and terminal costnot only ensure recursive feasibility and stability of LMPC but also guarantee convergenceto the neighbourhood of the optimal performance at steady state. Our LMPC formulationincludes linear time-varying system dynamics which is also learnt from stored state andinput trajectories of previous iterations.To show the performance of LMPC, a quadcopter trajectory learning problem in thevertical plane is simulated in MATLAB/SIMULINK. This particular trajectory learningproblem involves non-convex state constraints, which makes the resulting optimal controlproblem difficult to solve. A tangent cut method is implemented to approximate the nonconvexconstraints by convex ones, which allows the optimal control problem to be solvedby efficient convex optimization solvers. Simulation results illustrate the effectiveness ofthe proposed control strategy.Vi utvecklar en lärande modell-prediktiv regulator för energi-optimalt följande av periodiskatrajektorier för en quadkopter. Den huvudsakliga fördelen med denna regulator äratt den är “referensfri”. Dessutom så klarar regulatorn att förbättra sin prestanda medtiden genom att inkorporera inlärning från föregående iterationer. Syftet med den föreslagnalärande modell-prediktiva regulatorn är att över en viss tid lära sig den “bästa”energioptimala trajektorian genom att lära sig den terminala bivillkorsmängden och denterminala kostnaden från historiskt data från tidigare iterationer. Vi har visat hur man kanrekursivt konstruera terminala bivillkorsmängder och terminala kostnader som konvexahöljen respektive konvexa styckvis linjära approximationer av tillstånds- och insignalstrajektoriernafrån tidigare iterationer. Dessa steg gör det möjligt att formulera onlineplaneringsproblemet för regulatorn som ett konvext optimeringsproblem och på så visundvika de komplexa kombinatoriska optimeringsproblemen som ofta krävs för alternativametoder som kan hittas andra publikationer. Den datadrivna terminala bivillkorsmängdenoch terminala kostnaden garanterar inte bara rekursiv tillåtenhet och stabilitet av LMPC,utan även konvergens till en omgivning av den optimala prestandan efter att ha uppnåttjämvikt. Vår LMPC-formulering innehåller linjär och tidsvarierande systemdynamik, somockså lärs från lagrade tillstånds- och insignalstrajektorier från tidigare iterationer.För att visa prestandan av LMPC så simuleras iMATLAB/SIMULINK ett problem ominlärning av quadkopter-trajektorier i det vertikala planet. Just det trajektorieinlärningsproblemetinnehåller icke-konvexa tillståndsbivillkor, vilket gör det resulterande optimeringsproblemetsvårt att lösa. En tangentsnitt-metod är implementerad för att approximera deicke-konvexa bivillkoren med hjälp av konvexa bivillkor, vilket möjliggör lösningen avdet optimala regleringsproblemet med effektiva lösare för konvexa optimeringsproblem.Simuleringsresultaten visar effektivitet av den föreslagna regleringsmetoden.
28
Rothenhäusler, Philipp. "Adaptive Trajectory Tracking Control of a UAV using Gaussian Processes." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-278213.
Анотація:
Unmanned aerial vehicles are a popular choice for various transport and monitoringapplications. In many outdoor applications frequent variations of thevehicle conguration and time-varying disturbances originating from the environmentare expected. In order to counteract resulting deviations from aspecied trajectory both model-based and data-driven methods are utilised.With the performance expectations encoded in a designer chosen trajectory,the implementation of a nonlinear controller based on geometric methods onthe nonlinear Lie group SE(3) guarantees stability for the nominal system. Incombination with an adaptive compensation term using a radial basis functionnetwork (RBFN) and a learning-based term using a Gaussian Process, alearning-based framework is proposed. The approach is evaluated with respectto its real time applicability and numerical results are provided for the adaptiveRBFN control approach.Obemannade luftfarkost är ett populärt val för olika typer av transports ochövervaknings applikationer. I många utomhus tillämpningarna, förekommer det ofta variationer av fordonets konfiguration och tidsvarierande störningar från omgivning. För att motverka avvikelse från en önskade körbana, både modell baserade och data drivna metoder ät tillämpade. Med prestandaförväntningarna inbäddade i en vald bana, stabilitet för det nominella systemet är garanterad med implementering av en icke-linjära regulator baserad på geometriska metoder på den icke-linjära Lie-gruppen SE(3). I kombination med en adaptiv kompensationsterm som använder ett radiellt basfunktionsnätverk (RBFN) och en maskininlärning baserad term med användning av Gaussian Process, ett inlärningsbaserat ramverk är föreslaget. Metoden är utvärderade med avseende på dess realtids tillämpbarhet och numeriska resultat tillhandahållsför den adaptiva RBFN styrningsmetod.
29
Bouadi, Hakim. "Contribution to flight control law design and aircraft trajectory tracking." Thesis, Toulouse, INSA, 2013. http://www.theses.fr/2013ISAT0001/document.
Анотація:
Compte tenu de la forte croissance du trafic aérien aussi bien dans les pays émergents que dans les pays développés soutenue durant ces dernières décennies, la satisfaction des exigences relatives à la sécurité et à l’environnement nécessite le développement de nouveaux systèmes de guidage. L’objectif principal de cette thèse est de contribuer à la synthèse d’une nouvelle génération de lois de guidage pour les avions de transport présentant de meilleures performances en terme de suivi de trajectoire. Il s’agit en particulier d’évaluer la faisabilité et les performances d’un système de guidage utilisant un référentiel spatial. Avant de présenter les principales approches utilisées pour le développement de lois de commande pour les systèmes de pilotage et de guidage automatiques et la génération de directives de guidage par le système de gestion du vol, la dynamique du vol d’un avion de transport est modélisée en prenant en compte d’une manière explicite les composantes du vent. Ensuite, l’intérêt de l’application de la commande adaptative dans le domaine de la conduite automatique du vol est discuté et une loi de commande adaptative pour le suivi de pente est proposée. Les principales techniques de commande non linéaires reconnues d’intérêt pour le suivi de trajectoire sont alors analysées. Finalement, une loi de commande référencée dans l’espace pour le guidage vertical d’un avion de transport est développée et est comparée avec l’approche temporelle classique. L’objectif est de réduire les erreurs de poursuite et mieux répondre aux contraintes de temps de passage en certains points de l’espace ainsi qu’à une possible contrainte de temps d’arrivéeSafety and environmental considerations in air transportation urge today for the development of new guidance systems with improved accuracy for spatial and temporal trajectory tracking.The main objectives of this thesis dissertation is to contribute to the synthesis of a new generation of nonlinear guidance control laws for transportation aircraft presenting enhanced trajectory tracking performances and to explore the feasibility and performances of a flight guidance system developed within a space-indexed reference with the aim of reducing tracking errors and ensuring the satisfaction of overfly time constraints as well as final arrival time constraint. Before presenting the main approaches for the design of control laws for autopilots and auto-guidance systems devoted to transport aircraft and the way current Flight Management Systems generates guidance directives, flight dynamics of transportation aircraft, including explicitly the wind components, are presented. Then, the interest for adaptive flight control is discussed and a self contained adaptive flight path tracking control for various flight conditions taking into account automatically the possible aerodynamic and thrust parametric changes is proposed. Then, the main recognized nonlinear control approaches suitable for trajectory tracking are analyzed. Finally an original vertical space-indexed guidance control law devoted to aircraft trajectory tracking is developed and compared with the classical time-indexed approach
30
Sun, Liang. "Dynamic Modeling, Trajectory Generation and Tracking for Towed Cable Systems." BYU ScholarsArchive, 2012. https://scholarsarchive.byu.edu/etd/3532.
Анотація:
In this dissertation, we focus on the strategy that places and stabilizes the path of an aerial drogue, which is towed by a mothership aircraft using a long flexible cable, onto a horizontally flat orbit by maneuvering the mothership in the presence of wind. To achieve this goal, several studies for towed cable systems are conducted, which include the dynamic modeling for the cable, trajectory generation strategies for the mothership, trajectory-tracking control law design, and simulation and flight test implementations. First, a discretized approximation method based on finite element and lumped mass is employed to establish the mathematical model for the towed cable system in the simulation. Two approaches, Gauss's Principle and Newton's second law, are utilized to derive the equations of motion for inelastic and elastic cables, respectively. The preliminary studies for several key parameters of the system are conducted to learn their sensitivities to the system motion in the steady state. Flight test results are used to validate the mathematical model as well as to determine an appropriate number of cable links. Furthermore, differential flatness and model predictive control based methods are used to produce a mothership trajectory that leads the drogue onto a desired orbit. Different desired drogue orbits are utilized to generate required mothership trajectories in different wind conditions. The trajectory generation for a transitional flight in which the system flies from a straight and level flight into a circular orbit is also presented. The numerical results are presented to illustrate the required mothership orbits and its maneuverability in different wind conditions. A waypoint following based strategy for mothership to track its desired trajectory in flight test is developed. The flight test results are also presented to illustrate the effectiveness of the trajectory generation methods. In addition, a nonlinear time-varying feedback control law is developed to regulate the mothership to follow the desired trajectory in the presence of wind. Cable tensions and wind disturbance are taken into account in the design model and Lyapunov based backstepping technique is employed to develop the controller. The mothership tracking error is proved to be capable of exponentially converging to an ultimate bound, which is a function of the upper limit of the unknown component of the wind. The simulation results are presented to validate the controller. Finally, a trajectory-tracking strategy for unmanned aerial vehicles is developed where the autopilot is involved in the feedback controller design. The trajectory-tracking controller is derived based on a generalized design model using Lyapunov based backstepping. The augmentations of the design model and trajectory-tracking controller are conducted to involve the autopilot in the closed-loop system. Lyapunov stability theory is used to guarantee the augmented controller is capable of driving the vehicle to exponentially converge to and follow the desired trajectory with the other states remaining bounded. Numerical and Software-In-the-Loop simulation results are presented to validate the augmented controller. This method presents a framework of implementing the developed trajectory-tracking controllers for unmanned aerial vehicles without any modification to the autopilot.
31
Awang, Salleh Dayang Nur Salmi Dharmiza. "Study of vehicle localization optimization with visual odometry trajectory tracking." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLS601.
Анотація:
Au sein des systèmes avancés d’aide à la conduite (Advanced Driver Assistance Systems - ADAS) pour les systèmes de transport intelligents (Intelligent Transport Systems - ITS), les systèmes de positionnement, ou de localisation, du véhicule jouent un rôle primordial. Le système GPS (Global Positioning System) largement employé ne peut donner seul un résultat précis à cause de facteurs extérieurs comme un environnement contraint ou l’affaiblissement des signaux. Ces erreurs peuvent être en partie corrigées en fusionnant les données GPS avec des informations supplémentaires provenant d'autres capteurs. La multiplication des systèmes d’aide à la conduite disponibles dans les véhicules nécessite de plus en plus de capteurs installés et augmente le volume de données utilisables. Dans ce cadre, nous nous sommes intéressés à la fusion des données provenant de capteurs bas cout pour améliorer le positionnement du véhicule. Parmi ces sources d’information, en parallèle au GPS, nous avons considérés les caméras disponibles sur les véhicules dans le but de faire de l’odométrie visuelle (Visual Odometry - VO), couplée à une carte de l’environnement. Nous avons étudié les caractéristiques de cette trajectoire reconstituée dans le but d’améliorer la qualité du positionnement latéral et longitudinal du véhicule sur la route, et de détecter les changements de voies possibles. Après avoir été fusionnée avec les données GPS, cette trajectoire générée est couplée avec la carte de l’environnement provenant d’Open-StreetMap (OSM). L'erreur de positionnement latérale est réduite en utilisant les informations de distribution de voie fournies par OSM, tandis que le positionnement longitudinal est optimisé avec une correspondance de courbes entre la trajectoire provenant de l’odométrie visuelle et les routes segmentées décrites dans OSM. Pour vérifier la robustesse du système, la méthode a été validée avec des jeux de données KITTI en considérant des données GPS bruitées par des modèles de bruits usuels. Plusieurs méthodes d’odométrie visuelle ont été utilisées pour comparer l’influence de la méthode sur le niveau d'amélioration du résultat après fusion des données. En utilisant la technique d’appariement des courbes que nous proposons, la précision du positionnement connait une amélioration significative, en particulier pour l’erreur longitudinale. Les performances de localisation sont comparables à celles des techniques SLAM (Simultaneous Localization And Mapping), corrigeant l’erreur d’orientation initiale provenant de l’odométrie visuelle. Nous avons ensuite employé la trajectoire provenant de l’odométrie visuelle dans le cadre de la détection de changement de voie. Cette indication est utile dans pour les systèmes de navigation des véhicules. La détection de changement de voie a été réalisée par une somme cumulative et une technique d’ajustement de courbe et obtient de très bon taux de réussite. Des perspectives de recherche sur la stratégie de détection sont proposées pour déterminer la voie initiale du véhicule. En conclusion, les résultats obtenus lors de ces travaux montrent l’intérêt de l’utilisation de la trajectoire provenant de l’odométrie visuelle comme source d’information pour la fusion de données à faible coût pour la localisation des véhicules. Cette source d’information provenant de la caméra est complémentaire aux données d’images traitées qui pourront par ailleurs être utilisées pour les différentes taches visée par les systèmes d’aides à la conduiteWith the growing research on Advanced Driver Assistance Systems (ADAS) for Intelligent Transport Systems (ITS), accurate vehicle localization plays an important role in intelligent vehicles. The Global Positioning System (GPS) has been widely used but its accuracy deteriorates and susceptible to positioning error due to factors such as the restricting environments that results in signal weakening. This problem can be addressed by integrating the GPS data with additional information from other sensors. Meanwhile, nowadays, we can find vehicles equipped with sensors for ADAS applications. In this research, fusion of GPS with visual odometry (VO) and digital map is proposed as a solution to localization improvement with low-cost data fusion. From the published works on VO, it is interesting to know how the generated trajectory can further improve vehicle localization. By integrating the VO output with GPS and OpenStreetMap (OSM) data, estimates of vehicle position on the map can be obtained. The lateral positioning error is reduced by utilizing lane distribution information provided by OSM while the longitudinal positioning is optimized with curve matching between VO trajectory trail and segmented roads. To observe the system robustness, the method was validated with KITTI datasets tested with different common GPS noise. Several published VO methods were also used to compare improvement level after data fusion. Validation results show that the positioning accuracy achieved significant improvement especially for the longitudinal error with curve matching technique. The localization performance is on par with Simultaneous Localization and Mapping (SLAM) SLAM techniques despite the drift in VO trajectory input. The research on employability of VO trajectory is extended for a deterministic task in lane-change detection. This is to assist the routing service for lane-level direction in navigation. The lane-change detection was conducted by CUSUM and curve fitting technique that resulted in 100% successful detection for stereo VO. Further study for the detection strategy is however required to obtain the current true lane of the vehicle for lane-level accurate localization. With the results obtained from the proposed low-cost data fusion for localization, we see a bright prospect of utilizing VO trajectory with information from OSM to improve the performance. In addition to obtain VO trajectory, the camera mounted on the vehicle can also be used for other image processing applications to complement the system. This research will continue to develop with future works concluded in the last chapter of this thesis
32
Garcia, Carrillo Luis Rodolfo. "Vision-based hovering and trajectory tracking of a quad-rotor." Compiègne, 2011. http://www.theses.fr/2011COMP1957.
Анотація:
Ce travail de recherche porte sur la conception et la mise en œuvre de lois de commande originales et robustes, permettant le vol stationnaires et navigation automatique d’un mini hélicoptère robotique de type quadri-rotor. Le véhicule est guide par un système de vision et une combinaison de capteurs inertiels et d’altitude, ce qui permet une localisation relative du drone par rapport à son environnement. L’idée principale de l’utilisation de ce genre de système de détection est de permettre à la plate-forme robotique de pouvoir exécuter des taches autonomes dans les environnements a l’intérieur comme a l’extérieur. Le développement d’un démonstrateur expérimental temps réel est présenté, celui-ci est composé d’un véhicule quadri-rotor et d’une station de supervision au sol, ou les programmes de traitement d’images et de contrôle sont exécutés. Une stratégie de commande pour améliorer la stabilisation de l’attitude du quadri-rotor est proposée et validée à partir d’expériences en temps réel. Cette technique utilise des composants a faible cout et une boucle de commande supplémentaire, basée sur la réalimentation du courant induit des moteurs. Deux stratégies basées sur la vision par ordinateur sont introduites, lesquelles permettent au vehicule de se localiser sur des mires artificielles positionnées au sol. Les informations visuelles en combinaison avec une stratégie de commande permettent de stabiliser la position tridimensionnelle du quadri-rotor dans des expériences en temps réel. Une comparaison de lois de commande non linéaires est présentée, avec l’objectif d’évaluer expérimentalement quelle est la stratégie la plus efficace pour stabiliser le quadri-rotor lors de l’utilisation d’un retour d’état base vision. Pour estimer la dynamique de déplacement du quadri-rotor, les informations visuelle, inertielle et du capteur d’altitude sont combines dans un observateur d’état. Ce système de détection permet au véhicule d’estimer sa position relative et sa vitesse de déplacement pendant une évolution dans environnements non structurées, à l’intérieur, hors des signaux GPS. Trois observateurs d’état différents sont compares lors d’expériences en temps réel, pour obtenir l’approche la plus efficace qui permet de combiner l’information visuelle et les capteurs inertiels. Chaque observateur d’état est testé en temps réel, les états estimés sont évalués en utilisant une stratégie de commande pour la stabilisation de la position du véhicule en volThis research work is devoted to the development of original and robust control methods aiming at performing autonomous hover flights and navigation of a mini quad-rotor robotic helicopter. The vehicle is guided by an imaging system and a combination of inertial and altitude sensors, which allow a relative localization of the UAV with respect to its surrounding environment. The main idea of using this kind of sensor suit consists on enabling the robotic platform to perform autonomous tasks indoors as well as outdoors. The development of a real-time experimental platform is presented, consisting of a quad-rotor aerial vehicle and a supervisory ground station where imaging and control algorithms are executed. A control strategy for improving the attitude stabilization of the quad-rotor is proposed and tested in real-time experiments. The technique uses low cost compo-nents and an extra control loop based on motor armature current feedback. Two vision-based strategies are introduced, which allow the vehicle to localize it- self with respect an artificial landmark placed on ground. Such information together with a control strategy allows stabilizing the quad-rotor 3-dimensional position in real time experiments. A comparison of nonlinear controllers is addressed, with the objective of evaluating which control strategy is the most effective approach for stabilizing the quad-rotor when using visual feedback. For estimating the translational dynamics of the quad-rotor, imaging, inertial and altitude sensors are combined in a state observer. This sensing system allows the vehicle to estimate its relative position and translational velocity when evolving in unstructured, indoors, GPs-denied environments. Three different state observers are compared in real time experiments, aiming at obtaining the most effective approach for combining imaging and inertial sensors. Each state observer is tested in a real-time experiment, where the estimated states are used in a control strategy for stabilizing the vehicle’s position during flight
33
Bertenshaw, Thomas G. "TRADAT VI Telemetry Ranging System." International Foundation for Telemetering, 1993. http://hdl.handle.net/10150/611867.
Анотація:
International Telemetering Conference Proceedings / October 25-28, 1993 / Riviera Hotel and Convention Center, Las Vegas, NevadaFrequently a requirement exists to track sounding rockets or balloons from remote locations which have no radar capability. Occasionally, there is also a requirement to provide an alternative to radar tracking at those locations where it exists. TRADAT VI satisfies both requirements by providing vehicle positional from telemetry. In addition, it also provides real-time trajectory plots by its graphical display.
34
Huda, Md Nazmul. "Design, analysis and trajectory tracking control of underactuated mobile capsule robots." Thesis, Bournemouth University, 2016. http://eprints.bournemouth.ac.uk/24994/.
Анотація:
The research on capsule robots (capsubots) has received attraction in recent years because of their compactness, simple structure and their potential use in medical diagnosis (e.g. capsule endoscopy), treatment and surgical assistance. The medical diagnostic capability of a capsule endoscope - which moves with the aid of visceral peristalsis - in the GI (gastro-intestinal) tract can be improved by adding propulsion to it e.g. legged, magnetic or capsubot-type propulsion. Driven by the above needs this thesis presents the design, analysis, trajectory tracking control and implementation of underactuated mobile capsule robots. These capsule robots can be modified and used in in-vivo medical applications. Researches on the capsubottype underactuated system focus on the stabilization of the robot and tracking the actuated configuration. However trajectory tracking control of an unactuated configuration (i.e. the robotmotion)was not considered in the literature though it is the primary requirement of any mobile robot and also crucial for many applications such as in-vivo inspection. Trajectory tracking control for this class of underactuated mechanical systems is still an open issue. This thesis presents a strategy to solve this issue. This thesis presents three robots namely a one-dimensional (1D) capsule robot, a 2D capsule robot and a 2D hybrid capsule robot with incremental capability. Two new acceleration profiles (utroque and contrarium) for the inner mass (IM) - internal moving part of the capsule robot - are proposed, analysed and implemented for the motion generation of the capsule robots. This thesis proposes a two-stage control strategy for the motion control of an underactuated capsule robot. A segment-wise trajectory tracking algorithm is developed for the 1D capsule robot. Theoretical analysis of the algorithm is presented and simulation is performed in the Matlab/Simulink environment based on the theoretical analysis. The algorithm is implemented in the developed capsule robot, the experimentation is performed and the results are critically analyzed. A trajectory tracking control algorithm combining segment-wise and behaviour-based control is proposed for the 2D capsule robot. Detailed theoretical analysis is presented and the simulation is performed to investigate the robustness of the trajectory tracking algorithm to friction uncertainties. A 2D capsule robot prototype is developed and the experimentation is performed. A novel 2D hybrid robot with four modes of operation - legless motion mode, legged motion mode, hybrid motion mode and anchoring mode - is also designed which uses one set of actuators in all operating modes. The theoretical analysis, modelling and simulation is performed. This thesis demonstrates effective ways of propulsion for in-vivo applications. The outer-shape of the 1D and 2D capsule robots can be customized according to the requirement of the applications, as the propulsion mechanisms are completely internal. These robots are also hermetically sealable (enclosed) which is a safety feature for the in-vivo robots. This thesis addresses the trajectory tracking control of the capsubot-type robot for the first time. During the experimentation the 1D robot prototype tracks the desired position trajectory with some error (relative mean absolute error: 16%). The trajectory tracking performance for the 2D capsubot improves as the segment time decreases whereas tracking performance declines as the friction uncertainty increases. The theoretical analysis, simulation and experimental results validate the proposed acceleration profiles and trajectory tracking control algorithms. The designed hybrid robot combines the best aspects of the legless and legged motions. The hybrid robot is capable of stopping in a suspected region and remain stationary for a prolonged observation for the in-vivo applications while withstanding the visceral peristalsis.
35
Abidin, Zainal. "Design of digital high-accuracy trajectory tracking systems for multivariable plants." Thesis, University of Salford, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.304589.
36
Dickinson, Michael. "Real time trajectory tracking and closed loop control of robot manipulators." Thesis, University of Sheffield, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.333756.
37
Jie, Lu Billy, and Michael Bettar. "Trajectory Tracking, Formation Control and Obstacle Avoidance for Autonomous Ground Vehicles." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-293838.
Анотація:
The usage of autonomous ground vehicles is growingextensively. Therefore, it is important to gain a better understand-ing for the fundamentals of their communication network. Inthis paper, three important areas will be considered: Trajectorytracking, formation control and collision avoidance. Firstly,trajectory tracking is implemented for unicycles to direct them toa reference path. Secondly, formation control is examined for twoapproaches: A method based on virtual structure with a presettrajectory for unicycles and a method based on displacement forpoint agents. Finally, collision avoidance is incorporated withthe displacement-based controller. For this case, agents keepformation without colliding within formation and with staticobstacles in the workspace. The proposed controllers are verifiedthrough simulations in MATLAB.Användningen av autonoma markfordon har ökat kraftigt de senaste åren. Således är det viktigt att få en bättre förståelse för grunderna i deras kommunikationsnätverk. I detta projekt studeras tre essentiella områden: projektilspårning, formationshållning och undvikning av kollisioner. Först och främst implementeras projektilspårning för en enhjuling där den styrs mot en önskad projektilbana. Därefter betraktas formationshållning genom två metoder: Den första metoden handlar om virtuella strukturer med en förutbestämd bana för enhjulingar. Den andra metoden baseras på en förskjutningsbaserad regulator. Slutligen införs undvikning av kollisioner tillsammans med den förskjutningsbaserade regulatorn för att uppnå ett kollisionsundvikande robotsystem. Samtliga objektiv inom de tre områdena nås med varierande precision.
Kandidatexjobb i elektroteknik 2020, KTH, Stockholm
38
BETTEGA, JASON. "MODEL-BASED METHODS FOR PRECISE TRAJECTORY TRACKING IN UNDERACTUATED MULTIBODY SYSTEMS." Doctoral thesis, Università degli studi di Padova, 2022. https://hdl.handle.net/11577/3467158.
Анотація:
La sotto-attuazione è una proprietà che sta caratterizzando sempre di più i sistemi meccanici e meccatronici oggigiorno, dato che questo aspetto si presenta sostanzialmente in tre modi differenti: intenzionalmente, ad esempio attraverso una riduzione del numero di attuatori dettata da motivi economici; accidentalmente, tramite la rottura indesiderata di uno o più motori; strutturalmente, in seguito all’utilizzo di componenti dotati di flessibilità. I sistemi sotto-attuati stanno pertanto mostrando un interesse sempre più elevato nel mondo della ricercar e, in particolare, essi rappresentano un settore pieno di sfide dal punto di vista della progettazione degli algoritmi di controllo. Infatti, a seconda dell’uscita desiderata del Sistema, questa tipologia di sistemi è solitamente caratterizzata dalla presenza di una dinamica interna instabile che impedisce il calcolo esatto dell’inversione dinamica e, di conseguenza, la valutazione delle forze di controllo richieste. Inoltre, avendo un numero di gradi di libertà maggior del numero di gradi di attuazione, insieme alla possibile presenza di sotto-elongazione nella risposta del sistema data dalla presenza di zeri a parte reale positiva nelle loro funzioni di trasferimento linearizzate, la progettazione del controllo di questi sistemi risulta essere particolarmente difficoltosa e pertanto devono essere utilizzati algoritmi di controllo più sofisticati.
Pertanto, l’obiettivo di questa tesi è quella di proporre un insieme di strumenti che possa essere sfruttato al fine di ottenere delle performance di alto livello in presenza di sistemi sotto-attuati, in termini di inseguimento di una traiettoria sia spaziale sia temporale. Più precisamente, la prima parte di questa tesi si focalizza sulla progettazione di algoritmi di controllo in retroazione, proponendo un nuovo algoritmo di controllo predittivo “model-based” in grado di assicurare errori di inseguimento bassi grazie alla considerazione della dinamica caratterizzante la traiettoria desiderata stessa. Rimanendo nel campo degli algoritmi di controllo in retroazione, la seconda parte mostra com’è possibile assicurare buone performance in presenza di sistemi sotto-attuati affetti da ritardo; questo argomento è molto importante dato che la presenza di ritardo in un sistema a catena chiusa può portare alla presenza di radici trascendentali all’interno dell’equazione caratteristica del sistema, minacciando di conseguenza la stabilità dello stesso. Pertanto, è proposto un algoritmo di controllo con l’obiettivo di ottenere le perfomance dinamiche desiderate, assicurando al contempo un buon livello di robustezza. Infine, la terza parte di questa tesi si focalizza sulla progettazione di algoritmi di feedforward, mostrando quindi com’è possibile svolgere il calcolo di inversione del modello in maniera accurata in presenza di sistema sotto-attuati.
Tutti i metodi proposti in questa tesi non sono relegati solamente agli esempi applicativi qui riportati, ma al contrario possono essere facilmente sfruttati per assicurare buone performance con la maggior parte dei sistemi sotto-attuati caratterizzanti l’ambiente industriale odierno.Underactuation is a property that is characterizing more and more the mechanical and mechatronic systems nowadays, since this aspect can mainly occur in three different ways: intentionally, for example through a cost driven reduction of the number of actuators; accidentally, by the undesired failure of one or several motors; structurally, through the usage of lightweight components. Underactuated systems are therefore showing an increasing interest in the research field and, moreover, they represent a highly challenging area from the control design point of view. Indeed, depending on the desired system output, this kind of system is usually characterized by the presence of unstable internal dynamics which does not allow the exact computation of the model inversion and, as a consequence, the evaluation of the required feedforward control inputs. Moreover, having a number of degrees of freedom which is greater than the number of degrees of actuation, together with the presence of possible undershoot in the system response due to right half plane zeros in their linearized transfer functions, the control design of these systems results to be very challenging and therefore more sophisticated control algorithms have to be used. Therefore, the goal of this thesis is to propose a set of tools that can be exploited to achieve good performances in the presence of underactuated multibody systems, both in terms of path and trajectory tracking. More precisely, the first part of this thesis focuses on the feedback control design, proposing a novel Model Predictive Control algorithm capable to ensure very low tracking errors by exploiting the dynamics of the desired trajectory. Remaining in the field of feedback control design, the second part shows how it is possible to ensure high performances in the presence of underactuated systems characterized by delay; this topic is important since the presence of delay in a closed-loop system can make the characteristic equation be characterized by latent roots, which can threaten the stability of the system. Therefore, a control algorithm is presented with the goal to achieve the desired performances with a good level of robustness. Finally, the third part focuses the attention on the feedforward control design, showing how model inversion can be accurately performed in the presence of underactuated systems. All the methods proposed in this thesis are not strictly related to the test cases here presented, but they can be easily exploited to ensure good performances with the majority of the underactuated multibody systems that characterizes the industrial automation environment nowadays.
39
Yeh, Pei-Yin, and 葉沛盈. "Focusing Trajectory Tracking Solar Collector." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/28595373264904649186.
Анотація:
碩士國立臺灣大學
機械工程學研究所
96
The research develops a more economizing solar tracker. By simulation sun focusing trajectory as a special curve, the design of Focusing Trajectory Tracking Solar Collector is established based on the curve shape. The system contains: GaAs solar cell, focusing trajectory mechanism, Fresnel lens, a stepping motor and its driver, photosensitive resistors, switches, and a microcontroller PIC18F4480. The following is features of the tracking solar collector. (1) Due to the design of focusing trajectory mechanism, one dimension move of the stepping motor can drive two dimension movement of the solar cell. (2)There is a Fresnel lens to concentrate light, but the motor is unnecessary to drive both lens and solar cell, just drive small and light solar cell. This design can substantially reduce power consumption of the motor. (3)Using photosensitive resistors as sensors in accordance with focusing trajectory tracking solar collector looks for a tracking logic to track the Sun.
40
HSIAO, YUNG-LONG, and 蕭永隆. "Trajectory Tracking Control of Redundant Manipulators." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/16641495572540039537.
41
Lai, Hrong Ren, and 賴鴻仁. "Trajectory Tracking Control of Articulated Manipulators." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/48705108583414256905.
42
張紹興. "The Trajectory Tracking of Rotorcraft-Based." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/q2g9xz.
43
Wang, Yen-Han, and 汪彥瀚. "Steric Focal Trajectory Tracking Solar Collector." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/37483511459909336549.
Анотація:
碩士國立臺灣大學
機械工程學研究所
98
The research develops a more robust solar tracker. Simulation shows that focusing trajectory of sun rays of four seasons form a special surface. Thus, a steric focal trajectory tracking solar collector is designed. The system contains a GaAs solar cell, a focusing trajectory mechanism, Fresnel lens, three stepping motors with their drivers, six limiting switches, and a microcontroller PIC18F4520. The tracking solar collector has the following features: (1) A Fresnel lens to concentrate light which lets the solar cell absorb more energy. The lens is kept fixed without the need to move or rotate, but instead, the solar cell with relative small size and light weight is driven by the motor. This design can reduce power consumption of the motor. (2) It can automatically find a non-circle focal point in the space. (3) Vertical design allows it to be put on the wall of a building. The efficiency of this solar cell system at noon is of about 0.21％ to 0.81% . It can be compared to a system fixed on the wall which is of about 1.03% to 2.48%. The efficiency of this solar cell system at sunset is of about 1.70% to 2.47% and can be compared to a system fixed on the wall which is of about 0.52% to 0.78%. The reason is that the energy of light focused through the lens is less at noon than at sunset when the Fresnel lens is placed vertical. This system’s concentration factor is 507, so it is capable of decreasing 99.8 percent of the solar cell’s area to achieve comparable system efficiency and therefore, the cost of this system can be reduced.
44
Kan, Wei-Hsin, and 甘偉欣. "Tracking and Trajectory Classification in Crowd." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/04474668427967993322.
Анотація:
碩士中華大學
資訊工程學系(所)
98
In order to detect each individual target in the crowded scenes and analyze the crowd moving trajectories, we propose two methods to detect and track the individual target in the crowd and classify the crowd motion trajectories. First, a coarse-to-fine individual segmentation approach based on the corner point’s extraction and tracking is proposed. The dynamic feature points are roughly clustered by the C-Means algorithm and then a spatial-temporal shortest spanning tree is proposed to segment each individual target in each moving group and each target is tracked with the concept of points’ inheritance. Second, the method of the longest common subsequences is applied to automatically evaluate the similarities among the feature motion trajectories. Then the feature tracks are classified by the similarity measure on both the temporal and spatial relationships. The experimental results show that the accuracy of individual segmentation in the crowd can be higher than 90%, and the efficiency of our system can approach 6~ 8 fps.
45
Lin, Chen-Hui, and 林振輝. "Three Dimensional Trajectory Tracking Using Visual Feedback." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/91435339546322882556.
Анотація:
碩士國立成功大學
航空太空工程學系
86
The visual feedback system has been generally applied, especially when the function of visual feedback is addedon a robot system and make it capable to track a three dimensional trajectory.The key issues of the overall visualfeedback system include target recognition, the generation of stereo vision and the control of the mechanism of vision servo system and the robot system . In this thesis, CCD cameras are used as the image sensors to imitate the mechanism of the eyeballs of the human beings .Colors and intensity are considered the features to recognize the object. PID controller is used for position and tracking tasks. Using the proposed visual feedback structure, the sensitivity to the measurement error of the CCD camera can be reduced,that is the precise calibration of the CCD camera is not necessary. The tracking error of the robotto target will be compensated with the proposed process. Satisfactory results are obtained for both positioning and tracking tasks.
46
Wu, Zong-Han, and 吳宗瀚. "Trajectory Tracking System in Aerial Mobile Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/96d4nh.
Анотація:
碩士國立臺灣科技大學
自動化及控制研究所
103
Multicopters are beginning to gain popularity and appeal to many people. Most published research applies to environmental monitoring, search and rescue, and delivery, but most multicopters use remote controls and lack autonomous control. As a result, multicopters are restricted by visual range. In an attempt to improve this condition, the author adopted the use of intelligent controllers to allow for control and adaptation in unknown environments. This thesis focuses on autonomous trajectory tracking for aerial mobile robots. This system consists of two subsystems to be classified into the autonomous control system and Odometry system. This thesis proposes an Odometry system that uses a Dead reckoning (DR) algorithm. The author applies DR to locate the multicopter position so that the Odometry system isn’t restricted by the environment. Furthermore, this thesis adopts the fuzzy logic controller for autonomous control system. Fuzzy is a robust autonomous control system with good fault tolerance enabling it to work in any environment. Our experiment result shows that the DR for Odometry estimate system had an error range between 0.2 ~ 0.3 meter indoors and error range between 0.7 ~ 0.8 meter outdoors. The result also demonstrates that the DR is more robust than the visual sensor and its output rate if faster than the GPS and AIS. The experimental result of the autonomous control system shows that its trajectory tracking error ranges between 0.4 ~ 0.5 meters indoors and between 0.6 ~ 0.7 meters outdoors.
47
Wu, Cheng-Yu, and 吳承祐. "Trajectory Tracking Control for a Delta robot." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/7pava8.
Анотація:
碩士國立東華大學
電機工程學系
104
Robot manipulators have been widely used in industrial assembly lines. Different working spaces and pieces require different kinds of manipulators. In general, there are two kinds of robotic manipulators, the serial link and parallel link manipulators. In contrast to the serial link manipulators, the parallel ones have some important features. They have closed loop kinematic chain and hence can move more swiftly with prescribed precision. However, comparably smaller working space is generally a shortcoming of parallel manipulators. Delta robots, among others, are typical parallel manipulators which are commonly used in pick-and-place assembly lines. One of main reasons for choosing delta robots in the pick-and-place assembly line is its speed. Normally, with the aid of sophisticated control law, one cycle of pick-and-place can be made less than 0.3 seconds. This thesis endeavors to establish a mathematical model using Matlab\Simulink and devise a useful control scheme via computed torque with the aim to help speed up the practical design of a delta robot used in a pick-and-pace situation. To that end, we divide the system into three parts, the trajectory generating part, the dynamic model part of a delta robot and the control part. The design is modular in structure so that the control algorithm and parameters of a delta robot may as well be modified to meet different requirements in various applications. Specifically, we incorporated the Matlab Function block into Simulink to achieve the modular design. In order to carry out a successful practical system design, the simulation of the modular delta robot control seems to be quite helpful and important. Performances of various control schemes for delta robots of different parameters can be extensively studied and compared. This simulation study may provide substantially aid to a successful design of a practical delta robot control system.
48
Hsu, Chin-Hao, and 許晉豪. "Crossroad Vehicle Trajectory Analysis using Superpixel Tracking." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/61261774549649260658.
Анотація:
碩士國立臺北大學
資訊工程學系
101
Vehicle tracking is an important application domain of intelligent video surveillance. This paper presents a novel vehicle-tracking algorithm. The proposed algorithm includes an adaptive background mixture model modeling and segmentation, and Kalman filter to predict object motion. Furthermore, superpixel-based object model is used for object matching. By using superpixel segmentation, the proposed approach is able to capture the local appearance characteristics of objects based on their spatial relationships. For improving transportation, it is necessary to analyze the vehicle traffic data. This paper proposed a system to detect invalid-left-turn from a forward-only-lane using the trajectory map which is constructed based on the trajectory of vehicles extracted by the vehicle-tracking algorithm we proposed.
49
Woo, Jar-Yu, and 吳佳裕. "Study of Target Tracking and Trajectory Reconstruction." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/84656604518027583644.
Анотація:
碩士國立成功大學
電機工程學系
87
The thesis investigates signal processing and graphical display techniques for target tracking and trajectory reconstruction. In many practical systems, there is a need to estimate the trajectory of a moving object based on indirect measurement. The thesis investigates a class of signal processing techniques including Extended Kalman Filter, Iterated-Extended Kalman Filter, Adaptive Filter, Kalman Smoother, Modified Output Error Method, and Maximum Likelihood Estimation for the application of target trajectory estimation. The estimated trajectory is then animated by using graphical display means.
50
Lee, Chi-Tai, and 李啟泰. "Trajectory Planning and Adaptive Trajectory Tracking Control for a Small Scale Autonomous Helicopter." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/35376378022379391196.
Анотація:
博士國立中興大學
電機工程學系所
98
This dissertation presents three nonlinear adaptive trajectory tracking controllers as well as an on-line trajectory generation method for a small scale autonomous helicopter. The proposed trajectory tracking controllers are mainly on the basis of the adaptive backstepping design technique with an integral action. Unlike those approximate modeling approaches neglecting the nonlinear coupling terms among force equations, the developments of three proposed controllers are intentionally based on the complete rigid-body model such that the closed-loop helicopter systems are guaranteed to be semi-globally ultimately bounded and have satisfactory trajectory tracking performance over its entire flight envelope. Three different adaptive techniques are used to cope with the coupling terms existing in the force equations of the complete rigid-body model. In particular, RBFNN and RNN are adopted to accommodate the adaptive backstepping integral scheme with an augmented approximation function and robust performance respectively. Furthermore, the local path generation based on the elastic band concept is proposed to find an on-line collision-free trajectory for the tracking controller of a small scale helicopter. In addition to the complete evolution of synthesis process and stability analysis, the proposed controllers are verified by using a software-in-the-loop approach which implements a high fidelity dynamic model of a small-scale helicopter. The effectiveness and merits of the proposed methods are exemplified by conducting several dynamic simulations, including specified maneuvers of hovering and trajectory tracking, autonomous tasks of obstacle avoidance, and terrain following.