Relevant bibliographies by topics / Path tracking control / Dissertations / Theses
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Dissertations / Theses on the topic 'Path tracking control'

Author: Grafiati
Published: 7 June 2025
Last updated: 2 August 2025

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1

Chen, Yiyang. "Iterative learning control for spatial path tracking." Thesis, University of Southampton, 2017. https://eprints.soton.ac.uk/415865/.

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Iterative learning control (ILC) is a high performance method for systems operating in a repetitive manner, which aims to improve tracking performance by learning from previous trial information. In recent years research interest has focused on generalizing the task description in order to achieve greater performance and flexibility. In particular, researchers have addressed the ease of tracking only at a single, or a collection of time instants. However, there still remain substantial open problems, such as the choice of the time instants, the need for system constraint handling, and the abil
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2

Boström-Rost, Per. "On Informative Path Planning for Tracking and Surveillance." Licentiate thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-157026.

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This thesis studies a class of sensor management problems called informative path planning (IPP). Sensor management refers to the problem of optimizing control inputs for sensor systems in dynamic environments in order to achieve operational objectives. The problems are commonly formulated as stochastic optimal control problems, where to objective is to maximize the information gained from future measurements. In IPP, the control inputs affect the movement of the sensor platforms, and the goal is to compute trajectories from where the sensors can obtain measurements that maximize the estimatio
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Haghshenas, Hamed. "Time-Optimal Cooperative Path Tracking for Multi-Robot Systems." Licentiate thesis, Linköpings universitet, Reglerteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-179217.

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Robotic systems are nowadays the key technology in a wide variety of applications. The increasing demand for performance of robotic systems is often met by employing a team of cooperating robots for a specific task.When the task carried out by the robots involves manipulation of an object, the multi-robot system is said to perform a cooperative manipulation task.Cooperative manipulation is an important capability for extending the domain of robotic applications.This thesis studies the time-optimal path tracking problem for a cooperative manipulation scenario where an object is rigidly grasped
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4

Törnroth, Oscar, and Truls Nyberg. "Design and Implementation of a Strategy for Path Tracking on Autonomous Heavy-Duty Vehicles." Thesis, Linköpings universitet, Fordonssystem, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-149266.

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In this thesis, a combined feedforward and feedback controller for improved path tracking on autonomous heavy-duty vehicles is designed and implemented. The steering wheel is controlled in order to follow a reference curvature, computed by a higher-level MPC, responsible for minimizing the distance to a planned path. The steering dynamics, from steering wheel via wheel angles, to a measurable vehicle curvature, is modeled, and a conversion from desired curvature gain to input angle to the steering wheel is derived. Tests with an autonomous Scania R580 show that the desired curvature can be fol
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5

Thommyppillai, Mark P. "Optimal path-tracking of virtual race-cars using gain-scheduled preview control." Thesis, Imperial College London, 2010. http://hdl.handle.net/10044/1/6098.

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In the search for a more capable minimum-lap-time-prediction program, the presence of an alternative solution has been introduced, which requires the development of a high-quality path-tracking controller. Preview Discrete Linear Quadratic Regulator (DLQR) theory has been used to generate optimal tracking control gains for a given car model. The calculation of such gains are performed off-line, reducing the computational burden during simulated tracking trials. A simple car model was used to develop limit-tracking control strategies, first for an understeering and then for an oversteering car,
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6

Donadel, Rodrigo. "Modeling and control of a tiltrotor unmanned aerial vehicle for path tracking." reponame:Repositório Institucional da UFSC, 2015. https://repositorio.ufsc.br/xmlui/handle/123456789/158766.

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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2015.<br>Made available in DSpace on 2016-02-09T03:01:12Z (GMT). No. of bitstreams: 1 337437.pdf: 7414111 bytes, checksum: 2bab6f7b0d4d376f975801166ea73051 (MD5) Previous issue date: 2015<br>Abstract : This master thesis deals with the modeling and control of a small scale birotor tiltrotor unmanned aerial vehicle (UAV). A tiltrotor is characterized by a mechanism that tilts the aircraft's rotors in order to control the flight. A
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7

Yan, Yutong. "Simulation, Control and Path Planning for Articulated Unmanned Ground Vehicles." Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-126394.

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The purpose of this project is to implement obstacle avoidance algorithms to drive the articulated vehicle autonomously in an unknown environment, which is simulated by AgX Dynamics™ simulation software and controlled by Matlab® programming software. Three driving modes are developed for driving the vehicle (Manual, Semi-autonomous and Autonomous) in this project. Path tracking algorithms and obstacle avoidance algorithms are implemented to navigate the vehicle. A GUI was built and used for the manual driving mode in this project. The semi-autonomous mode checked different cases: change lanes,
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8

Yuan, Hongliang. "Control of NonH=holonomic Systems." Doctoral diss., University of Central Florida, 2009. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2751.

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Many real-world electrical and mechanical systems have velocity-dependent constraints in their dynamic models. For example, car-like robots, unmanned aerial vehicles, autonomous underwater vehicles and hopping robots, etc. Most of these systems can be transformed into a chained form, which is considered as a canonical form of these nonholonomic systems. Hence, study of chained systems ensure their wide applicability. This thesis studied the problem of continuous feed-back control of the chained systems while pursuing inverse optimality and exponential convergence rates, as well as the feed-bac
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9

Werner, Roland [Verfasser]. "Centimeter-Level Accuracy Path Tracking Control of Tractors and Actively Steered Implements / Roland Werner." München : Verlag Dr. Hut, 2015. http://d-nb.info/1076437311/34.

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10

Xiang, Xianbo. "Coordinated motion control of multiple underactuated autonomous underwater vehicles." Thesis, Montpellier 2, 2011. http://www.theses.fr/2011MON20005.

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Cette thèse traite de la question du contrôle du mouvement d'engins non-holonomes et sous-actionnés évoluant de manière coordonnée et autonome. Les différentes approches considérées sont le suivi de trajectoire (Trajectory Tracking TT) et le suivi de chemin (path following PF). Une nouvelle méthode de contrôle est proposée. Dénommée Path-Tracking (PT), elle permet de cumuler les avantages de chacune des deux précédentes méthodes, permettant de cumuler la souplesse de la convergence induite par le suivi de chemin avec le respect des contraintes temporelles du suivi de trajectoire. L'étude et la
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11

Wadoo, Sabiha Amin. "Feedback Control and Nonlinear Controllability of Nonholonomic Systems." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/30963.

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In this thesis we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than the degrees of freedom. The main focus of the thesis is on the study of motion planning and design of the feedback control laws for an autonomous underwater vehicle: a nonholonomic system. The nonlinear controllability issues for the system are also studied. For the design of feedback contr
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12

Schworer, Ian Josef. "Navigation and Control of an Autonomous Vehicle." Thesis, Virginia Tech, 2005. http://hdl.handle.net/10919/32634.

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The navigation and control of an autonomous vehicle is a highly complex task. Making a vehicle intelligent and able to operate â unmannedâ requires extensive theoretical as well as practical knowledge. An autonomous vehicle must be able to make decisions and respond to situations completely on its own. Navigation and control serves as the major limitation of the overall performance, accuracy and robustness of an autonomous vehicle. This thesis will address this problem and propose a unique navigation and control scheme for an autonomous lawn mower (ALM). Navigation is a key aspect when
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Bott, M. P. "A new, robust, and generic method for the quick creation of smooth paths and near time-optimal path tracking." Thesis, University of St Andrews, 2011. http://hdl.handle.net/10023/2095.

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Robotics has been the subject of academic study from as early as 1948. For much of this time, study has focused on very specific applications in very well controlled environments. For example, the first commercial robots (1961) were introduced in order to improve the efficiency of production lines. The tasks undertaken by these robots were simple, and all that was required of a control algorithm was speed, repetitiveness and reliability in these environments. Now however, robots are being used to move around autonomously in increasingly unpredictable environments, and the need for robotic cont
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14

Larsen, Oscar. "Autonomous Overtaking Using Model Predictive Control." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-293819.

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For the past couple of years researchers around theworld have tried to develop fully autonomous vehicles. One of theproblems that they have to solve is how to navigate in a dynamicworld with ever-changing variables. This project was initiated tolook into one scenario of the path planning problem; overtakinga human driven vehicle. Model Predictive Control (MPC) hashistorically been used in systems with slower dynamics but withadvancements in computation it can now be used in systems withfaster dynamics. In this project autonomous vehicles controlledby MPC were simulated in Python based on the k
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15

Ding, Runxiao. "Contextual information aided target tracking and path planning for autonomous ground vehicles." Thesis, Loughborough University, 2016. https://dspace.lboro.ac.uk/2134/23268.

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Recently, autonomous vehicles have received worldwide attentions from academic research, automotive industry and the general public. In order to achieve a higher level of automation, one of the most fundamental requirements of autonomous vehicles is the capability to respond to internal and external changes in a safe, timely and appropriate manner. Situational awareness and decision making are two crucial enabling technologies for safe operation of autonomous vehicles. This thesis presents a solution for improving the automation level of autonomous vehicles in both situational awareness and de
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16

Cottle, Dean J. "Mine avoidance and localization for underwater vehicles using continuous curvature path generation and non-linear tracking control." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1993. http://handle.dtic.mil/100.2/ADA276070.

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Thesis (M.S. in Mechanical Engineering and Mechanical Engineer) Naval Postgraduate School, September 1993.<br>Thesis advisor(s): Anthony J. Healey. "September 1993." Includes bibliographical references. Also available online.
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Werner, Roland [Verfasser], Steffen [Akademischer Betreuer] Müller, and Jörg [Akademischer Betreuer] Seewig. "Centimeter-Level Accuracy Path Tracking Control of Tractors and Actively Steered Implements / Roland Werner. Betreuer: Steffen Müller ; Jörg Seewig." Kaiserslautern : Technische Universität Kaiserslautern, 2016. http://d-nb.info/1104733749/34.

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18

Klindworth, Karl. "Dynamic Modelling for the Path Tracking Control of a Four-Wheel Independent-Drive, Four-Wheel Independent-Steer Autonomous Ground Vehicle." Thesis, North Dakota State University, 2017. https://hdl.handle.net/10365/28655.

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Robots that can be reconfigured to perform more than one task would be to consumers. The Four-Wheel Independent-Drive, Four-Wheel Independent-Steer (4WD4WS) robot is well suited for the role of reconfigurable robot due to its extremely high maneuverability and torque control. However, the nonlinear dynamics in conjunction with complex kinematic constraints make the 4WD4WS structure an extremely difficult control problem. As a result of this many who model the 4WD4WS structure make simplifications that aren?t realistic for a reconfigurable consumer robot. A 4WD4WS robot is kinematically and dyn
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19

Capito, Ruiz Linda J. "Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1555599397128602.

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20

Splendori, Roberta. "Development of control algorithm for adjusting the needle insertion path during robot assisted breast biopsy procedure." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.

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The MURAB project, created and developed by the RAM group at the university of Twente in the Netherlands, aims to improve the precision and the efficiency of the breast biopsy procedure, reducing as much as possible the intervention time and the discomfort for the patient. In this framework, a lot of studies have been conducted concerning efficient control methods capable of positioning the end effector of a KUKA LBR Med robotic arm at the location where the hypothetical lesion has been individualized. Starting from these methods, the main goal of this Thesis is to develop a control algorithm
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21

Fry, Jedediah Micah. "On Integral Quadratic Constraint Theory and Robust Control of Unmanned Aircraft Systems." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/102615.

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This dissertation advances tools for the certification of unmanned aircraft system (UAS) flight controllers. We develop two thrusts to this goal: (1) the validation and improvement of an uncertain UAS framework based on integral quadratic constraint (IQC) theory and (2) the development of novel IQC theorems which allow the analysis of uncertain systems having time-varying characteristics. Pertaining to the first thrust, this work improves and implements an IQC-based robustness analysis framework for UAS. The approach models the UAS using a linear fractional transformation on uncertainties an
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Lima, Gabriela Vieira. "Modelagem dinâmica e controle para navegação de um veículo aéreo não tripulado do tipo quadricóptero." Universidade Federal de Uberlândia, 2015. https://repositorio.ufu.br/handle/123456789/14608.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior<br>Technological advances in electromechanical sensor and actuators, energy storage, data processing and control methodology made possible the development of unmanned aerial vehicles (UAVs). The quadrotor has emerged as one of these research platforms due to its mechanical simplicity, high maneuverability, as well as its capability of hovering and perform vertical take-off and landing. However, such vehicle presents some challenging issues to control area, like: nonlinearity, time-varying behavior, in addition it belongs to the class
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Furieri, Luca. "Geometric versus Model Predictive Control based guidance algorithms for fixed-wing UAVs in the presence of very strong wind fields." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amslaurea.unibo.it/11872/.

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The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this thesis, a nonlinear-geometric guidance strategy is presented, addressing this problem. More broadly, a methodology is proposed for the high-level control
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Morgan, Hayden Matthew. "Small-Target Detection and Observation with Vision-Enabled Fixed-Wing Unmanned Aircraft Systems." BYU ScholarsArchive, 2021. https://scholarsarchive.byu.edu/etd/8998.

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This thesis focuses on vision-based detection and observation of small, slow-moving targets using a gimballed fixed-wing unmanned aircraft system (UAS). Generally, visual tracking algorithms are tuned to detect motion of relatively large objects in the scene with noticeably significant motion; therefore, applications such as high-altitude visual searches for human motion often ignore target motion as noise. Furthermore, after a target is identified, arbitrary maneuvers for transitioning to overhead orbits for better observation may result in temporary or permanent loss of target visibility. W
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Fnadi, Mohamed. "Commande prédictive et estimation des paramètres d’environnement pour un rover rapide." Thesis, Sorbonne université, 2019. https://tel.archives-ouvertes.fr/tel-03196900.

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Les recherches menées dans ce mémoire concernent le contrôle-commande d'un rover rapide tout terrain à deux trains directeurs (4WS). Un robot mobile se déplaçant à une vitesse élevée sur des terrains extérieurs généralement accidentés est soumis à des phénomènes de glissement et de dérapage qui peuvent dégrader les performances, voire déstabiliser la commande du système en suivi de trajectoire ou chemin. Il est donc nécessaire de doter ce type de robot de contrôleurs robustes et efficaces permettant à la fois de générer des chemins admissibles et stables ainsi que de garantir leur suivi précis
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Panchea, Adina. "Inverse optimal control for redundant systems of biological motion." Thesis, Orléans, 2015. http://www.theses.fr/2015ORLE2050/document.

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Cette thèse aborde les problèmes inverses de contrôle optimal (IOCP) pour trouver les fonctions de coûts pour lesquelles les mouvements humains sont optimaux. En supposant que les observations de mouvements humains sont parfaites, alors que le processus de commande du moteur humain est imparfait, nous proposons un algorithme de commande approximative optimale. En appliquant notre algorithme pour les observations de mouvement humaines collectées: mouvement du bras humain au cours d'une tâche de vissage industrielle, une tâche de suivi visuel d’une cible et une tâche d'initialisation de la march
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Victor, Stéphane. "Identification par modèle non entier pour la poursuite robuste de trajectoire par platitude". Thesis, Bordeaux 1, 2010. http://www.theses.fr/2010BOR14115/document.

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Les études menées permettent de prendre en main un système depuis l’identification jusqu’à la commande robuste des systèmes non entiers. Les principes de la platitude permettent de parvenir à la planification de trajectoire à condition de connaître le modèle du système, d’où l’intérêt de l’identification des paramètres du système. Les principaux travaux de cette thèse concernent l’identification de système par modèles non entiers, la génération et la poursuite robuste de trajectoire par l’application des principes de la platitude aux systèmes non entiers.Le chapitre 1 rappelle les définitions et pr
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Harmouche, Mohamed. "Contribution à la théorie de la commande par modes glissants d'ordre supérieur et à la commande des systèmes mécaniques sous-actionnés." Thesis, Belfort-Montbéliard, 2013. http://www.theses.fr/2013BELF0214/document.

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Les systèmes non linéaires sont si diverses que des outils communs de contrôle sont difficiles à développer. La théorie du contrôle non linéaire nécessite une analyse mathématique rigoureuse pour motiver ses conclusions. Cette thèse aborde deux branches distinctes et bien importantes de la théorie du contrôle non linéaire: le contrôle des systèmes non-linéaires incertains et le contrôle des systèmes sous-actionnés.Dans la première partie, une classe de contrôleurs par mode glissant d’ordre supérieur (MGOS) robuste, basée sur la synthèse de Lyapunov, est développée pour le contrôle des systèmes
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Tagne, Fokam Gilles. "Commande et planification de trajectoires pour la navigation de véhicules autonomes." Thesis, Compiègne, 2014. http://www.theses.fr/2014COMP2004/document.

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Ces travaux de recherche portent sur la commande et la planification de trajectoires pour la navigation de véhicules autonomes. Ils se situent dans le cadre d'un projet très ambitieux lancé par le laboratoire Heudiasyc sur la conduite autonome à grande vitesses (vitesse longitudinale supérieure à 5m/s ~= 18 km/h). Pour proposer des solutions à cette problématique, après avoir réalisé une large recherche bibliographique sur la commande et la planification des trajectoires des véhicules autonomes, plusieurs contributions ont été présentées. En ce qui concerne la commande des véhicules autonomes,
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Kai, Jean-Marie. "Contrôle automatique de véhicules aériens à voilure fixe." Thesis, Université Côte d'Azur (ComUE), 2018. http://www.theses.fr/2018AZUR4117/document.

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Cette thèse développe une nouvelle approche de contrôle pour les avions à échelle réduite. Les lois de commande proposées exploitent un modèle non linéaire simple mais pertinent des forces aérodynamiques appliquées à l’aéronef. Ils reposent sur une structure hiérarchique de contrôle non linéaires, et sont synthétisées sur la base d’analyse de stabilité et de convergence théoriques. Ils sont conçus pour fonctionner sur un large domaine de vol. En particulier, ils évitent les singularités associées à la paramétrisation de l'attitude et la direction de la vitesse. Dans un premier temps, le problè
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Mehrabi, Mostafa G. "Path tracking control of automated vehicles : theory and experiment." Thesis, 1993. http://spectrum.library.concordia.ca/3875/1/NN01375.pdf.

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32

Trung-Kien, Dao, and 陶忠堅. "Modeling and Path-Tracking Control for a Riderless-Bicycle System." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/31970492777600265411.

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博士<br>大葉大學<br>機械與自動化工程學系<br>98<br>In this dissertation, the equations of motion with nine generalized coordinates of a bicycle are developed. For constraints, rolling-without-slipping contact condition between wheels and ground is considered. For each wheel, two holonomic and two non-holonomic constraints are introduced in a set of differential-algebraic equations (DAEs). The dynamics model is validated by verifying the constraints, by comparison with a benchmark model, as well as with experiment results. The mathematic equations are then used to implement a simulation routine. To solve the DA
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Huang, Ruei-Yu, and 黃瑞宇. "NURBS Path Tracking Control of an EtherCAT Scanning Mirror System." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/5qy2dj.

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Meng-SungLee and 李孟松. "Autonomous path tracking and obstacle avoidance control of mobile robot." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/u498fm.

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碩士<br>國立成功大學<br>航空太空工程學系碩士在職專班<br>107<br>With the progress of automation technology, the industries are trying to adopt robots instead of human workforce in fields. This thesis discusses control of path tracking and obstacle avoidance for differential drive mobile robot and implements the prototype robot. Path tracking is the ability of the mobile vehicle to move forward on the marking track. Obstacle avoidance behavior ensures that the vehicle doesn’t hit any object in its path while moving. This prototype robot follows marking track, detects obstacle and take necessary actions to avoid it. T
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Pai, Kai-Yu, and 白凱佑. "Path Tracking for a Wheeled Mobile Robot Using Fuzzy Logic Control." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/85895597409764991716.

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碩士<br>國立宜蘭大學<br>電機工程學系碩士班<br>98<br>The purpose of the thesis is to design the fuzzy controller for the path tracking of a wheeled mobile robot (WMR). First, the Sugeno-type inference system is applied to design the fuzzy controllers compared with the fine-tuned PID controllers. Second, the Taguchi method is used to seek the best membership functions and gains. By the way, the author derives the nonlinear equations of motion for the wheeled mobile robot systems. The T-S fuzzy model can approximate the nonlinear robot systems. Based on the Lyapunov stability theorem, the author derives the linea
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Cahill, Aidan James. "Robust time-optimal path tracking control of robots : theory and experiments." Phd thesis, 1995. http://hdl.handle.net/1885/143874.

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Sheng-KaiYang and 楊勝凱. "Genetic Algorithm Path Planning with Camera Gimbal Tracking for UAV Flight Control." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/12672582110262462394.

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碩士<br>國立成功大學<br>航空太空工程學系<br>102<br>The UAV aerial photography is a developable technology to document and monitor local region. This thesis proposes the structure of aerial photography, including the flight path planning, camera gimbal control, and the UAV autopilot system. First, considering the safety of flight, the flight path planning is necessary. The Genetic Algorithm (GA) is a global search algorithm applied to the path planning with the suitable virtual flight map. Second, in order to control the camera gimbal to track the target, the information between UAV and tracking-target is impo
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Kuo, Fu-Sheng, and 郭富甥. "Path Tracking and Advanced Behaviors Control of a Small-Scale Humanoid Robot." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/76634014787100307149.

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碩士<br>中興大學<br>電機工程學系所<br>95<br>This thesis is devoted to constructing and developing an autonomous and intelligent embedded small-scale humanoid robot. Genetic algorithm and stability margin are used to find the near optimal configuration of the humanoid robot walking patterns, including forward walking, backward walking and turning. Based on these walking patterns, the advanced behaviors, standing up, ascending and descending and ramp walking can be synthesized. Vision-based self-localization together motion planning and basic walking patterns are used to accomplish path tracking of a humanoi
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Lin, Chu-Chih, and 林鉅植. "Adaptive Nonlinear Path Tracking Control of a Laser-Guided Wheeled Mobile Robot." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/80547762514972347825.

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碩士<br>國立中興大學<br>電機工程學系<br>91<br>This thesis develops methodologies and techniques for design and implementation of a path tracking control of a wheeled mobile robot. An adaptive control policy with aforementioned properties is proposed, based on the standard integral backstepping approach. The adaptive control law achieves required control performance under the situations of unknown dynamic parameters and changeable payloads. The laboratory-based mobile robot is composed of a retro-reflector laser scanning system, vehicle motion control system and a main kernel computer. The laser scanning sys
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Cheng, Chao-Chun, and 鄭兆淳. "Adaptive stepsize control in path tracking for total degree homotopy continuation method." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/31553236752494683937.

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碩士<br>國立中山大學<br>應用數學系研究所<br>100<br>The theory of solving polynomial systems by homotopy continuation method has been proposed by Garcia, Zangwill and Drexler, and the most typical method in this category is total degree homotpy. The numerical implementation of tracking homotopy curves can be taken as two parts: prediction and correction. In this thesis we compare the performance of several prediction methods in the total degree homotopy, including Runge-Kutta method, Adams-Bashforth method and cubic Hermite method. In addition, we design an adaptive stepsize control algorithm in path tracking,
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41

Chen, Yu-Xian, and 陳宇賢. "A Robust Iterative Learning with Contour Control Design for Precision Path Tracking." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/u6hqrt.

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Chen, Wei-Tsun, and 陳韋存. "Mobile Car Path Tracking Based on T-S Fuzzy Control and Grey Theorem." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/wbn8ju.

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碩士<br>中原大學<br>電機工程研究所<br>98<br>In this thesis, we use T-S fuzzy control theory and grey theory for the purpose of mobile car path tracking. First, the model of mobile car is represented in T-S fuzzy model by using the IF-THEN rules. As a result, the nonlinear system can be expressed by a combination linear subsystems. Furthermore, we can design fuzzy observer and path tracking controller for the system. Moreover, the tracking response is improved obviously with grey disturbance observer and control force predictor. Finally, the numerical simulations are used to show the expected results.
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Hsu, Ko-Jui, and 許克睿. "Application of CMAC and Image Process to Wheeled Mobile Robot Path Tracking Control." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/97053358850937550045.

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碩士<br>國立臺灣海洋大學<br>通訊與導航工程學系<br>100<br>The purpose of this paper is to use image processing techniques and intelligent control method to a wheeled mobile robot (WMR) for real-time trajectory recognition and tracking. We use LabView2010 to write human-machine interface and image processing. The CMAC controllers are coded by Matlab numerical computing. WiFi (802.11b) wireless network is utilized to transmit command signals between the CCD camera and the computer. A CCD camera is utilized to capture the environment image around the WMR. Classification of color features is based on Hue-Saturation-I
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Ardron, Kevin. "A low level motion controller for path tracking control of a tracked mobile robot." Thesis, 2002. http://hdl.handle.net/2429/13593.

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The main goal of this thesis is to improve the path-tracking performance of a tracked mobile robot (an excavator) at the low level. The three contributions of this research are: the implementation of a cross-coupling motion controller on top of the existing fuzzy logic track controllers, the integration of a vision motion estimation system to be used in conjunction with hydraulic flow meters to detect track slippage, and the implementation of a basic track slippage controller. The low level system, consisting of the cross-coupling motion controller and the track controllers, was modeled and si
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Pai, Chung-Kai, and 白仲凱. "Application of Fuzzy Logic and Genetic Algorithms to Wheeled Mobile Robot Path Tracking Control." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/26799685189750782698.

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碩士<br>國立臺灣海洋大學<br>通訊與導航工程系<br>95<br>The purpose of this thesis is to investigate a trajectory tracking control problem involving an application of wheeled mobile robot (WMR). The control objective is to make the WMR move quickly and accurately to the desired position and track. We utilize intelligent algorithm to the trajectory tracking control in environments without obstacles. With regard to controller design, we integrate traditional P controller and fuzzy logic controller according to the index of system performance. Genetic algorithm is used to obtain the gains of P controller and fuzzy
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Zi-QingChen and 陳子晴. "Integration and Development of Coverage Path Planning and Trajectory Tracking Control for an Automobile." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/26679g.

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Du, Shzh-Kang, and 杜世綱. "Development of the Intelligent Path Tracking Control System for a Pneumatic Linear Delta Robot." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/4fgv64.

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碩士<br>龍華科技大學<br>機械工程系碩士班<br>107<br>To improve the motion control performance of a pneumatic linear delta robot, which was developed by the Advanced Fluid Power and Intelligent Control Lab, this thesis developed an intelligent path tracking control system for pneumatic linear delta robot. A pneumatic servo system is time-varying and highly nonlinear because of air compressibility, low viscosity, low natural frequency, system friction, nonlinear characteristics of the valve, hysteresis characteristics of the proportional coil, zero shift, and the central nonsensing area of the valve shaft moveme
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Liu, Chia-Ming, and 劉嘉鳴. "Design of Dynamic Petri Recurrent-Fuzzy- Neural-Network Control System for Obstacle Avoidance and Path Tracking of Mobile Robot." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/91832500588469434278.

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碩士<br>元智大學<br>電機工程學系<br>97<br>This thesis focuses on the development of dynamic Petri recurrent fuzzy-neural-network (DPRFNN) control systems, and applies these designed control systems to the obstacle avoidance and path tracking of a nonholonomic mobile robot. In the DPRFNN, the concept of a Petri net (PN) and the recurrent frame of internal feedback loops are incorporated into a traditional fuzzy neural network (FNN) to alleviate the computation burden of parameter learning and to enhance the dynamic mapping of network ability. First, the supervised gradient descent method is used to develop
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YANG, CHANG-JIA, and 楊長珈. "Path Tracking of an Automatic Ground Vehicle with Different Payloads and Ground Conditions by Hierarchical Improved Fuzzy Dynamic Sliding-Mode Control." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/x52r4y.

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碩士<br>國立臺灣科技大學<br>電機工程系<br>104<br>Due to the hierarchical architecture of the derived model of the automatic guided vehicle (AGV), i.e., kinematics, mechanical motion subsystem, and electrical dc motor dynamics, the virtual desired input (VDI) (i.e., the desired motor current) is at the outset designed by the 1st Lyapunov function, which is a quadratic function of the first sliding surface, set as the linear dynamic pose error of the AGV. In sequence, the hierarchical path tracking control (HPTC) is designed by the 2nd Lyapunov function, which is made up by the quadratic function of the second
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Huang, Xing-Hao, and 黃星皓. "Hardware/Software Co-Design Based Hierarchical Sliding Mode Control for Path Tracking With Obstacle Avoidance and Destination Reach of Car-like Mobile Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/80974815524378243141.

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碩士<br>國立臺灣科技大學<br>電機工程系<br>103<br>Since the derived model for the path tracking of car-like mobile robot (CLMR) contains motor dynamics, virtual control inputs (i.e., two desired motor currents) are designed by the first switching surface, which is set as the linear dynamic tracking error of mobile robot’s pose. Subsequently, the second switching surface set as the linear dynamic tracking error of virtual control input is employed to design a hierarchical sliding mode control (HSMC) such that the direct output (i.e., two motor currents) asymptotically and robustly tracks the virtual control in
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