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Wyszukujesz frazę "path following" wg kryterium: Temat


Tytuł:
Numerical detection of bifurcation point in the curve
Autorzy:
Gulgowski, Jacek
Tematy:
path following algorithm
bifurcation point
bifurcation simplex
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Wydawca:
Polskie Towarzystwo Matematyczne
Powiązania:
https://bibliotekanauki.pl/articles/748467.pdf  Link otwiera się w nowym oknie
Opis:
We are presenting a numerical method which detects the presence and position of a  bifurcation simplex, the regular $(k+1)$-dimensional simplex, which may be considered as "fat bifurcation point", in the curve of zeroes of the $C^1$ map $f:{\mathbb R}^{k+1}\to{\mathbb R}^k$. On the other hand the bifurcation simplex appears in the neighbourhood of the bifurcation point, meaning that we have the method to locate the bifurcation point as well. The method does not require any estimation of the derivative of the function $f$ and refers to the values of the map $f$ only in the vertices of certain triangulation. The bifurcation simplex is detected by change of the Brouwer degree value of the restriction of the map $f$ to the appropriate $k$-simplex.This publication is co-financed by the European Union as part of the European Social Fund within the project Center for Applications of Mathematics.
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Pre-filtered backstepping control for underactuated ship path following
Autorzy:
Liu, Zhiquan
Tematy:
underactuated ships
path following
backstepping
pre-filter
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Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Powiązania:
https://bibliotekanauki.pl/articles/259576.pdf  Link otwiera się w nowym oknie
Opis:
Robust path following control for underactuated surface ships is an important issue in marine control practice. This paper aims to improve the robustness of the close-loop system with model uncertainties and time-varying disturbances. A practical adaptive backstepping control scheme with a pre-filter is proposed to force a surface vessel to track the predefined path generated by the virtual ship. Based on the Lyapunov stability theorem, this algorithm can guarantee all error signals in the overall system to be uniformly ultimately bounded, and it can be implemented without exact knowledge of the nonlinear damping structure and environmental disturbances. The proposed pre-filter can smooth the commanded heading order and obtain a better performance of the waypoint-based navigation control system. Two simulation cases are drawn to illustrate the validity of the proposed control strategy.
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Following 3D paths by a manipulator
Autorzy:
Mazur, A.
Płaskonka, J.
Kaczmarek, M.
Tematy:
path following
Serret-Frenet parametrization
orthogonal projection
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Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:
https://bibliotekanauki.pl/articles/230073.pdf  Link otwiera się w nowym oknie
Opis:
In the paper a description of a manipulator relative to a desired three-dimensional path was presented. The path is parameterized orthogonally to the Serret-Frenet frame which is moving along the curve. For the path two different time parameterizations were chosen. The control law for the RTR manipulator which ensures realization of the task was specified. Theoretical considerations were illustrated by simulation results.
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Path following for two HOG wheels mobile robot
Autorzy:
Joniak, P.
Muszyński, R.
Tematy:
Hemispherical Omnidirectional Gimbaled wheel
hemispheres
mobile robot
path following
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Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:
https://bibliotekanauki.pl/articles/950748.pdf  Link otwiera się w nowym oknie
Opis:
To apply a spinning hemisphere as a mobile robot drive is an unconventional idea. Equipping a mobile robot with two such hemispheres brings to life a device with absolutely novel properties. In this paper we derive kinematics models of a mobile robot with two driving hemispheres, analyse shortly their properties, and adopt a control algorithm designed to follow a path. There are two kinematics models presented: the full model of the original system, and the model of the simplified system, equivalent to the original one. The second model is expressed in two different coordinate systems – the later allowing for the application of known control algorithms to drive the robot. The performance of the analysed algorithm is illustrated by computer simulations
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Path following control of fully actuated autonomous underwater vehicle based on LADRC
Autorzy:
Lamraoui, H. C.
Qidan, Z.
Tematy:
ADRC
path following
uncertain parameters
ESO
control law
AUV
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Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Powiązania:
https://bibliotekanauki.pl/articles/259043.pdf  Link otwiera się w nowym oknie
Opis:
This paper presents an active disturbances rejecter controller (ADRC) for position and path following control of a fully actuated autonomous underwater vehicle (AUV). The unmodeled, undesirable dynamics and disturbances reduce the performances of classical controllers and complicate the design of appropriate and efficient controllers. In the proposed approach, the different modeling complexities; such as uncertain parameters, non-linearities, and external disturbances are considered all as a part of disturbance which is estimated in real-time by the extended state observer ESO, and effectively compensated from the control law. The ESO is also able to estimate the position and velocity of the system in real-time, in case where the full state measurement of the AUV is not possible during experiments. Computer simulations demonstrate the high ability of the AUV tracking control based on ADRC, to follow the desired trajectory in the horizontal plane and space with high precision, and showed high robustness and efficiency in rejecting the external and internal disturbances caused by significant changes in parameters of the system, and the added position disturbances.
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimal design of stationary flow problems by path-following interior-point methods
Autorzy:
Antil, H.
Hoppe, R. H.
Linsenmann, C.
Tematy:
shape optimization
Stokes flow problems
path-following interior-point methods
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Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Powiązania:
https://bibliotekanauki.pl/articles/970290.pdf  Link otwiera się w nowym oknie
Opis:
We consider the numerical solution of structural optimization problems in CFD where the state variables are supposed to satisfy a linear or nonlinear Stokes system and the design variables are subject to bilateral pointwise constraints. Within a primal-dual setting, we suggest an all-at-once approach based on interior-point methods. The discretization is taken care of by Taylor-Hood elements with respect to a simplicial triangulation of the computational domain. The efficient numerical solution of the discretized problem relies on path-following techniques, namely a continuation method with an adaptive choice of the continuation step size, a long-step path-following algorithm and a nonlinear version of Mehrotra's algorithm. The performance of the suggested methods is documented by several illustrative numerical examples.
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Improvement of the autodriver algorithm for autonomous vehicles using roll dynamics
Autorzy:
Nok To, Ching
Milani, Sina
Marzbani, Hormoz
Jazar, Reza N.
Tematy:
autonomous vehicle
path following control
road curvature
vehicle roll dynamics
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Wydawca:
Sieć Badawcza Łukasiewicz. Przemysłowy Instytut Motoryzacji
Powiązania:
https://bibliotekanauki.pl/articles/1838344.pdf  Link otwiera się w nowym oknie
Opis:
The autodriver algorithm was introduced as a path-following algorithm for autonomous vehicles, which uses road geometry data and planar vehicle dynamics. In this paper, the autodriver algorithm is improved according to practical implications, and a more realistic vehicle model (roll mode) is used, which considers roll degree of freedom in addition to a planar motion. A Ghost-Car path-following approach is introduced to define the desired location of the car at every instance. Key steady-state characteristics of turning vehicles, namely the curvature, yaw rate, and side-slip responses, are discussed and used to construct a feed-forward component of a path-following controller based on the autodriver algorithm. Feedback control loops are designed and applied to minimise transient errors between the road and vehicle positions. Finally, simulations are performed to analyse the pathfollowing performance of the proposed scheme. The results show promising performance of the controller both in terms of error minimisation and passenger comfort.
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive and robust following of 3D paths by holonomic manipulator
Autorzy:
Mazur, Alicja
Kaczmarek, Mirela
Tematy:
path following
Serret-Frenet parametrization
orthogonal projection
backstepping algorithm
holonomic manipulator
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Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:
https://bibliotekanauki.pl/articles/59115488.pdf  Link otwiera się w nowym oknie
Opis:
This paper addresses the problem of the following three-dimensional path by holonomic manipulator with parametric or structural uncertainty in the dynamics. Description of the manipulator relative to a desired three-dimensional path was presented. The path is parameterized orthogonally to the Serret-Frenet frame, which is moving along the curve. The adaptive and robust control laws for a stationary manipulator which ensures realization of the task were specified. Theoretical considerations are supported by the results of computer simulations conducted for an RTR manipulator.
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The non-orthogonal Serret-Frenet parametrization applied to the path following problem of a manipulator with partially known dynamics
Autorzy:
Mazur, Alicja
Dyba, Filip
Tematy:
backstepping integrator algorithm
holonomic manipulator
non-orthogonal projection
path following
Serret-Frenet parametrization
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Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Powiązania:
https://bibliotekanauki.pl/articles/27312013.pdf  Link otwiera się w nowym oknie
Opis:
In this paper an application of the Serret-Frenet parametrization of a curve to the path following task is presented. This curvilinear parametrization method is used to obtain a control object description relative to the desired curve defined in the three-dimensional space. In order to derive proper equations, the innovative approach of the non-orthogonal projection of a control object on the given path is investigated. The non-orthogonal projection allows to design a global control algorithm. The proposed solution results in a cascade structure of the control system. Thus, the backstepping integrator algorithm was applied to create a control law. Due to the partial knowledge of control object dynamic parameters, an adaptive algorithm is taken into account. Theoretical considerations are confirmed with simulation study. Conducted simulations illustrated following paths at different levels of complexity by a holonomic non-redundant manipulator with a fixed base.
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Motion planning for mobile surgery assistant
Autorzy:
Pajak, G.
Pajak, I.
Tematy:
mobile manipulator
path following
trajectory planning
surgery assistant
manipulator mobilny
planowanie trajektorii
śledzenie ścieżki
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Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Powiązania:
https://bibliotekanauki.pl/articles/306369.pdf  Link otwiera się w nowym oknie
Opis:
The paper presents a method of motion planning for a mobile manipulator acting as a helper providing the necessary tools or a surgery assistant carrying out pre-planned procedures. Mobility of this system makes it possible to reach the position which will give optimal access to the operating field. The path of the end-effector, determined during operation pre-planning, is defined as a curve parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered. A computer example involving a mobile manipulator consisting of a nonholonomic platform (2,0) class and a 3 DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.
Dostawca treści:
Biblioteka Nauki
Artykuł

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