• Journal of Navigation and Port Research
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• v.42 no.2
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• pp.87-96
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• 2018

A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.812-814
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• 1999

In this paper, we propose a new control algorithm based on the neural network(NN) feedback compensation with a desired trajectory modification. The proposed algorithm decreases trajectory errors by a feed-forward desired torque combined with a neural network feedback torque component. And, to robustly control the tracking error, we modified the desired trajectory by variable structure concept smoothed by a fuzzy logic. For the numerical simulation, a 2-link robot manipulator model was assumed. To simulate the disturbance due to the modelling uncertainty. As a result of this simulation, the proposed method shows better trajectory tracking performance compared with the CTM and decreases the chattering in control inputs.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.498-505
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• 2002

Reducing odometer errors caused by kinematic imperfections in wheeled mobile robots is imestigated. Wheel diameters and wheelbase are corrected by using encoders without landmarks. A new velocity trajectory is proposed that compensates for an orientation error due to acceleration- resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. are used in the experiment to verify the proposed scheme.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1337-1338
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• 2015

In this paper, a new control technique using WIPDC(Weighted Integral Parallel Distributed Compensation) and ISMC(Integral Sliding Mode Control) is proposed for high performance and robust trajectory tracking control of a wheeled mobile robot. The WIPDC reduces the steady-state error by adding a weighted integral controller to the PDC. So, the trajectory tracking control using the WIPDC can obtain more accurate control performance than the PDC. And the ISMC based control input gives the mobile robot to preserve the system dynamics controlled by the WIPDC control input in spite of external disturbances. Therefore, the proposed control method shows a robust and precise trajectory tracking performance.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.357-363
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• 2005

The non-minimum phase characteristic of a flexible manipulator makes tracking control of its tip difficult. The level of the tip tracking performance of a flexible manipulator is significantly affected by the characteristics of the tip reference trajectory as well as the characteristics of the flexible manipulator system. This paper addresses the question of how to best specify a reference trajectory for the tip of a flexible manipulator to follow in order to achieve the objectives of reducing : tip tracking error, residual tip vibration, and the required actuation effort at the manipulator joint. A novel method of tip-based learning controller for the flexible manipulator system is proposed in the paper, where a model of the flexible manipulator system with a command shaping filter is used to generate a smooth and realizable tip reference trajectory for a tip-based learning controller.

• Transactions of The Korea Fluid Power Systems Society
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• v.1 no.1
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• pp.23-30
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• 2004

This paper deals with the issue of trajectory tracking control of a hydraulic excavator using disturbance observer in order to compensate external disturbances occuring from coupling between attachment, asymmetry of a single rod cylinder, and deadzone of main control valve. Disturbance compensation control system with disturbance observer has been constructed for the boom and arm respectively. Simulation results were compared with experimental results to validate the computer simulation system of hydraulic excavator itself. Computer simulation shows that disturbance compensation control is effective for compensating system nonlinearity and thus improves positioning accuracy and trajectory tracking performance. Steady state error has been decreased by adding PI controller to this control scheme.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.2
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• pp.71-78
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• 2008

New formation flight controller for unmanned aerial vehicles is proposed. A behavioral decentralized control approach called formation geometry center control is adopted. Trajectory tracking as well as formation geometry keeping are the purpose of the formation flight, and therefore two controllers are designed: a trajectory tracking controller for reference trajectory tracking, and a position controller for formation geometry keeping. Each controller is designed using Lyapunov stability theorem to guarantee the asymptotic stability. Formation flight controller is finally obtained by combining the trajectory tracking controller and the formation geometry keeping controller using a weighting parameter that depends on the relative distance error between unmanned aerial vehicles. Numerical simulations are performed to validate the performance of the proposed controller.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.58-67
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• 2022

In this paper, we propose an approach resolving inaccuracy of the low-cost redundant manipulator workspace with low encoder and low stiffness. When the manipulators are manufactured with low-cost encoders and low-cost links, the robots can run into workspace inaccuracy issues. Furthermore, trajectory generation based on conventional forward/inverse kinematics without taking into account inaccuracy issues will introduce the risk of end-effector fluctuations. Hence, we propose an optimization for the trajectory generation method based on the DDPG (Deep Deterministic Policy Gradient) algorithm for the low-cost redundant manipulators reaching the target position in Euclidean space. We designed the DDPG algorithm minimizing the distance along with the jacobian condition number. The training environment is selected with an error rate of randomly generated joint spaces in a simulator that implemented real-world physics, the test environment is a real robotic experiment and demonstrated our approach.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.11
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• pp.898-906
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• 2014

This paper presents a reduction method for a straight-line path error of a flexible beam deploying from a rotating rigid hub. Previous studies discussed about only vibration phenomena of flexible beams deploying from rotating hubs; however, this study investigates a vibration reduction of a rotating beam with variable length. The equation of motion and associated boundary conditions are derived for a flexible beam deploying from a rotating rigid hub, and then they are transformed to a variational equation. By applying the Galerkin method, the discretized equations are obtained from the variational equation. Based on the discretized equations, the dynamic responses of a rotating/deploying beam are analyzed when the beam end has a straight line motion. A reduction method for the trajectory error is proposed, using the average length of a rotating/deploying beam. It is shown that the proposed method is able to reduce the residual vibration of a rotating/deploying beam.

• Nuclear Engineering and Technology
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• v.53 no.8
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• pp.2708-2715
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• 2021

The Multi-Purpose Overload Robot (CMOR) is a key subsystem of China Fusion Engineering Test Reactor (CFETR) remote handling system. Due to the long cantilever and large loads of the CMOR, it has a large rigid-flexible coupling deformation that results in a poor position accuracy of the end-effector. In this study, based on the Levenberg-Marquardt algorithm, the spatial grid, and the linearized variable load principle, a variable parameter compensation model was designed to identify the parameters of the CMOR's kinematics models under different loads and at different poses so as to improve the trajectory tracking accuracy. Finally, through Adams-MATLAB/Simulink, the trajectory tracking accuracy of the CMOR's rigid-flexible coupling model was analyzed, and the end position error exceeded 0.1 m. After the variable parameter compensation model, the average position error of the end-effector became less than 0.02 m, which provides a reference for CMOR error compensation.