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Artykuły w czasopismach na temat „PD Controller; Tracking Efficiency”

Autor: Grafiati

Data publikacji: 3 czerwca 2025

Data aktualizacji: 31 lipca 2025

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1

Adinath, Jain, S.A. Hari Prasad Dr., Dahal Sujata, and Sudi Rajesh. "PD CONTROLLER BASED UNMANNED SHIP NAVIGATION." INTERNATIONAL JOURNAL OF RESEARCH- GRANTHAALAYAH 5, no. 4 RACEEE (2017): 147–54. https://doi.org/10.5281/zenodo.580641.

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For the improvement of the performance of track keeping of unmanned water vehicle numerous ship models, wave disturbances models and distinct control algorithms has been proposed. Researchers are using variants of PID controllers, Adaptive controllers and Predictive controllers for accurate trajectory control. Being simpler in nature still PID controller are popular in control domain. In this paper we have implemented PD based controller for trajectory control of unmanned vehicle considering all standard models of sea disturbances. Analysis of result obtained using PD control proved that path

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2

Kapoor, Neha, and Jyoti Ohri. "PD-SVM Integrated Controller for Robotic Manipulator Tracking Control." Chinese Journal of Engineering 2014 (February 3, 2014): 1–6. http://dx.doi.org/10.1155/2014/295210.

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Highly precise tracking of a robotic manipulator in presence of uncertainties like noise, disturbances, and friction has been addressed in this particular paper. An integrated proportional derivative and support vector machine (SVMPD) controller has been proposed for manipulator tracking. To illustrate the efficiency of the proposed controller, simulations have been done on a 2-DOF manipulator system. Performance of the proposed controller has been checked and verified with respect to to a simple PID controller and the radial bias neural network proportional integral derivative (RBNNPD) contro

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3

Abdelghany, Muhammad Bakr, Ahmed M. Moustafa, and Mohammed Moness. "Benchmarking Tracking Autopilots for Quadrotor Aerial Robotic System Using Heuristic Nonlinear Controllers." Drones 6, no. 12 (2022): 379. http://dx.doi.org/10.3390/drones6120379.

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This paper investigates and benchmarks quadrotor navigation and hold autopilots’ global control performance using heuristic optimization algorithms. The compared methods offer advantages in terms of computational effectiveness and efficiency to tune the optimum controller gains for highly nonlinear systems. A nonlinear dynamical model of the quadrotor using the Newton–Euler equations is modeled and validated. Using a modified particle swarm optimization (MPSO) and genetic algorithm (GA) from the heuristic paradigm, an offline optimization problem is formulated and solved for three different co

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4

Aktas, Ayhan, Hakan Yazici, and Mert Sever. "LMI-based design of an I-PD+PD type LPV state feedback controller for a gantry crane." Transactions of the Institute of Measurement and Control 41, no. 6 (2018): 1640–55. http://dx.doi.org/10.1177/0142331218785683.

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In this paper, an alternative gain-scheduled PID tuning procedure is proposed for gantry crane control systems. In order to avoid excessive overshoot and aggressive control action due to the proportional kick and/or derivative kick effects, an I-PD+PD type control law is considered. The scheduling parameter is considered the cable length due to the payload lifting and lowering movements. A linear parameter-varying (LPV) gantry crane model is constructed to enable gain-scheduled controller design with a linear matrix inequalities (LMIs) framework. Based on the LPV model, a convex optimization p

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5

Shan, Gao, Li You, Xue Huifeng, and Yao ShuYue. "Robust PD+ Control Algorithm for Satellite Attitude Tracking for Dynamic Targets." Mathematical Problems in Engineering 2021 (July 26, 2021): 1–15. http://dx.doi.org/10.1155/2021/6680994.

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In this paper, a PD + controller combined with the sliding mode surface is proposed to improve system convergence rate and efficiency on control torque for satellite attitude tracking control. A sliding mode surface with the maneuver stage is constructed by the Euler axis; hence, the constant angular velocity is achieved. The PD + controller with the variable structure and auxiliary term is constructed to track the desired sliding mode surface. The Lyapunov function in PD control analysis is modified to simplify stability analysis. Model uncertainty, external disturbance, control torque constr

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6

Sun, Weiwei, Yubin Jin, Kun Dai, Zhongyuan Guo, and Fei Ma. "Flexible manipulator trajectory tracking based on an improved adaptive particle swarm optimization algorithm with fuzzy PD control." Mechanical Sciences 16, no. 1 (2025): 125–41. https://doi.org/10.5194/ms-16-125-2025.

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Abstract. Trajectory planning for flexible manipulators is a critical area of research in robotics. A trajectory tracking controller can enhance the accuracy of the manipulator's path and reduce vibrations. However, current flexible manipulators remain largely in the research phase, with many studies revealing issues such as poor accuracy in dynamic modeling, weak tracking performance in controller design, and insufficient vibration suppression capabilities. To address these challenges and improve the trajectory tracking performance of the manipulator, this paper focused on vibration suppressi

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7

Keek, Joe Siang, Ser Lee Loh, and Shin Horng Chong. "Design and Control System Setup of an E-Pattern Omniwheeled Cellular Conveyor." Machines 9, no. 2 (2021): 43. http://dx.doi.org/10.3390/machines9020043.

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The addition of omnidirectional capability and modularization to conveyor systems is an exciting and trending topic in current conveyor research. The implementation of omnidirectional modular conveyors is foreseen as mandatory in the future of conveyor technologies due to their flexibility and efficiency. In this paper, an E-pattern omniwheeled cellular conveyor (EOCC) is first introduced. Camera and image processing techniques are utilized to achieve a centralized system, which is more robust than conventional decentralized systems. In order for cartons to maneuver across the EOCC, a unique m

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8

Abdulkareem, Ademola, Victoria Oguntosin, Olawale M. Popoola, and Ademola A. Idowu. "Modeling and Nonlinear Control of a Quadcopter for Stabilization and Trajectory Tracking." Journal of Engineering 2022 (October 10, 2022): 1–19. http://dx.doi.org/10.1155/2022/2449901.

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This paper presents an adequate mathematical representation of a quadcopter’s system dynamics and effective control techniques. A quadcopter is an unmanned aerial vehicle (UAV) that is able to do vertical take-off and landing. This study presents a nonlinear quadcopter system’s mathematical modeling and control for stabilization and trajectory tracking. The mathematical model of the system dynamics of the quadcopter is derived using Newton and Euler equations with proper references to the appropriate frame or coordinate system. A PD control algorithm is developed for the nonlinear system for s

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9

Ho, Chao Ching, and C. L. Shih. "Machine Vision Based Tracking Control of a Ball-Beam System." Key Engineering Materials 381-382 (June 2008): 301–4. http://dx.doi.org/10.4028/www.scientific.net/kem.381-382.301.

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The dynamic behavior of a ball-beam system is highly nonlinear and its characteristic is difficult to define. In this paper we present a new ball-beam balancing control system using machine vision to feedback the beam angle and ball position on the beam. Adaptive threshold based continuously mean shift vision tracking algorithm is applied to record the ball position and the beam angle with highly captured frame-rate. The proposed vision tracking algorithm is tolerant to lighting influence, highly computing efficiency and more robust than traditional template pattern matching or edge detection

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10

Ozhiken, A., A. Tuleshov, K. Ozhikenov, M. S. Mamutov, A. Almazuly, and N. Kanatuly. "Adaptive motion control system for a manipulator." Bulletin of the National Engineering Academy of the Republic of Kazakhstan 95, no. 1 (2025): 160–69. https://doi.org/10.47533/2025.1606-146x.17.

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The article focuses on the development of an adaptive control system for a manipulator to enhance accuracy and stability under parameter uncertainties and external disturbances. The proposed algorithm adjusts system parameters without interrupting operation, effectively responding to slow parameter variations. A comparison was conducted with a PD controller and a torque control regulator. Experiments on a high-speed robot with two degrees of freedom confirmed the algorithm’s high tracking accuracy and robustness against loads, noise, and unmodeled dynamics. The method demonstrates significant

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11

Gursoy Demir, Habibe. "Grey Wolf Optimization- and Particle Swarm Optimization-Based PD/I Controllers and DC/DC Buck Converters Designed for PEM Fuel Cell-Powered Quadrotor." Drones 9, no. 5 (2025): 330. https://doi.org/10.3390/drones9050330.

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The most important criterion in the design of unmanned air vehicles is to successfully complete the given task and consume minimum energy in the meantime. This paper presents a comparison of the performances of metaheuristic methods such as Particle Swarm Optimization (PSO) and Grey Wolf Optimization (GWO) to design controllers and DC/DC buck converters for optimizing the energy consumption and path following error of a PEM fuel cell-powered quadrotor system. Hence, the system consists of two PSO- and GWO-based optimizers. Optimizer I is used for determining the parameters of the PD controller

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12

Han, Guangdong, Jian Li, Yizong Chen, Shenghai Wang, and Haiquan Chen. "Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold." Journal of Marine Science and Engineering 11, no. 1 (2023): 87. http://dx.doi.org/10.3390/jmse11010087.

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Ship cargo-hold cleaning is a low-efficiency and high-risk operation in marine industry, which is generally carried out manually, putting the workers in danger. To improve the efficiency and safety of ship cargo-hold cleaning, a C-DCR is proposed in this article. Most research on the dynamics and control of CDPRs has focused on the scenarios with fixed bases; however, the effect of moving-base excitation on the end-effector is largely ignored. In this article, the dynamic model is established based on Lagrange method considering the ship motion and external disturbance, in which the motor mode

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13

Bae, Jung-Ju, and Jae-Young Kang. "Quaternion-Based Robust Sliding-Mode Controller for Quadrotor Operation Under Wind Disturbance." Aerospace 12, no. 2 (2025): 93. https://doi.org/10.3390/aerospace12020093.

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This paper presents a quaternion-based robust sliding-mode controller for quadrotors operating under significant wind disturbances. The proposed control method improves the reliability and efficiency of quadrotor control by eliminating the singularity problem inherent in the Euler angle method. The quadrotor dynamics and wind environment are modeled, and dynamic analysis is performed via numerical simulation. A realistic wind model is used, similar to a combination of deterministic and statistical models. The Lyapunov stability theory is utilized to prove the convergence and stability of the p

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14

Menzri, Fatima, Tarek Boutabba, Idriss Benlaloui, et al. "Applications of Novel Combined Controllers for Optimizing Grid-Connected Hybrid Renewable Energy Systems." Sustainability 16, no. 16 (2024): 6825. http://dx.doi.org/10.3390/su16166825.

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Hybrid renewable energy systems (HRES) integrating solar, wind, and storage technologies offer enhanced efficiency and reliability for grid-connected applications. However, existing control methods often struggle with maintaining DC voltage stability and minimizing power fluctuations, particularly under variable load conditions. This paper addresses this research gap by proposing a novel control strategy utilizing a PD (1+PI) regulator that combines proportional–integral (PI) and proportional–derivative (PD) controllers. Integrated into the HRES with maximum power point tracking (MPPT), the sy

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15

INEL, F., Y. ZENNIR, and R. ADLENE. "Design and Simulation of Graphical User interface for Cables Parallel Robot." Algerian Journal of Signals and Systems 5, no. 1 (2020): 66–72. http://dx.doi.org/10.51485/ajss.v5i1.98.

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In this paper, we have presented the 3D cables parallel robot in pyramid’s form. The dynamic equation has been established including the dynamic behavior, in this context; we investigated to use the Runge Kutta method of 4th order to solving non-linear partial differential equation of our system. The main contribution of this work is firstly: a graphical user interface (GUI) has been developed and implemented based on the geometric model, in order to visualizing the position of end effect or, taking account model uncertainties and payload variation. Secondly, we have studied and solved our sys

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16

Matus-Vargas, Antonio, Gustavo Rodriguez-Gomez, and Jose Martinez-Carranza. "A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect." Sensors 19, no. 22 (2019): 4948. http://dx.doi.org/10.3390/s19224948.

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Multirotor micro air vehicles can operate in complex and confined environments that are otherwise inaccessible to larger drones. Operation in such environments results in airflow interactions between the propellers and proximate surfaces. The most common of these interactions is the ground effect. In addition to the increment in thrust efficiency, this effect disturbs the onboard sensors of the drone. In this paper, we present a fault-tolerant scheme for a multirotor with altitude sensor faults caused by the ground effect. We assume a hierarchical control structure for trajectory tracking. The

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17

Singh, Spoorthi, Mohammad Zuber, Naman Bhat, et al. "Bio-Inspired Robotics: Kinematic and Gait Analysis of Quad and Hexa-Legged Systems." Journal of Robotics and Control (JRC) 6, no. 2 (2025): 757–68. https://doi.org/10.18196/jrc.v6i2.23905.

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Navigating hazardous environments, such as areas with fire risks, wild animal activity, or inaccessible terrains, poses significant challenges, necessitating the development of bio-inspired robotic systems. This study focuses on the biomechanical design and kinematic analysis of a spider-mimicking robot, specifically examining quad and hexa-legged configurations to optimize movement efficiency and stability. The research employed 3D Computer-Aided Design (CAD) in Fusion 360 to model and simulate the robot's leg framework, analyzing deformation, tension, and strain. Fused Deposition Modelling (

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18

Chowdhury, Abhra Roy, Vinoth Kumar, Bhuneshwar Prasad, Rajesh Kumar, and S. K. Panda. "Model-Based Control of a BCF Mode Carangiform Bioinspired Robotic Fish." Marine Technology Society Journal 48, no. 4 (2014): 36–50. http://dx.doi.org/10.4031/mtsj.48.4.5.

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Abstract Bioinspired robotic locomotion in the ocean environment can unveil critical issues on maneuverability, efficiency, and power consumption. This paper describes the modeling and closed-loop control of a bioinspired robotic fish. A body-caudal fin (BCF) carangiform swimming mode is presented. The propulsion scheme simulates the oscillatory motion of fish tail as thrust generator. The manufactured prototype is a 45-cm-long BCF mode four-joint, 6 degree of freedom modular robotic fish with a horizontal caudal fin (tail). The system uses DC servomotors as actuators and is controlled by micr

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19

Song, Fei, Hong Chao Zhao, and Ying Xin Mei. "Anti-Windup Variable Parameter PD Controller Design for Ballistic Missile." Applied Mechanics and Materials 742 (March 2015): 516–21. http://dx.doi.org/10.4028/www.scientific.net/amm.742.516.

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The conventional PD controller could cause the saturation problem of ballistic missile actuators. A design method of anti-windup variable parameter PD controller was proposed. The proportional coefficient and derivative coefficient were designed to be Gauss functions of system tracking error. Both were small when tracking error was big; whereas both increased as the tracking error decreased. This method not only restrained effectively the saturation problem, but also produced enough control force to drive system outputs to track their commands speedily. The control effect of anti-windup variab

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20

Alouache, Ali, and Qinghe Wu. "Fuzzy logic PD controller for trajectory tracking of an autonomous differential drive mobile robot (i.e. Quanser Qbot)." Industrial Robot: An International Journal 45, no. 1 (2018): 23–33. http://dx.doi.org/10.1108/ir-07-2017-0128.

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Purpose The aim of this paper is to propose a robust robot fuzzy logic proportional-derivative (PD) controller for trajectory tracking of autonomous nonholonomic differential drive wheeled mobile robot (WMR) of the type Quanser Qbot. Design/methodology/approach Fuzzy robot control approach is used for developing a robust fuzzy PD controller for trajectory tracking of a nonholonomic differential drive WMR. The linear/angular velocity of the differential drive mobile robot are formulated such that the tracking errors between the robot’s trajectory and the reference path converge asymptotically t

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21

Humaidi, Amjad J., and Ahmed Ibraheem Abdulkareem. "Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot." Journal of Control Science and Engineering 2019 (July 1, 2019): 1–11. http://dx.doi.org/10.1155/2019/7689673.

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This work presents the design of two control schemes for a Delta/Par4-like parallel robot: augmented PD (APD) controller and augmented nonlinear PD (ANPD) controller. The stability of parallel robot based on nonlinear PD controller has been analyzed and proved based on Lyapunov method. A comparison study between APD and ANPD controllers has been made in terms of performance and accuracy improvement of trajectory tracking. Also, another comparison study has been presented between augmented nonlinear PD (ANPD) controller and nonaugmented nonlinear PD (NANPD) controller in order to show the enhan

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Amer, Ahmed Foad, Elsayed Abdelhameed Sallam, and Wael Mohammed Elawady. "Fuzzy Self-Tuning Precompensation PD Control with Gravity Compensation of 3 DOF Planar Robot Manipulators." Journal of Robotics and Mechatronics 22, no. 4 (2010): 551–60. http://dx.doi.org/10.20965/jrm.2010.p0551.

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Industrial robot control covers nonlinearity, uncertainty and external perturbation considered in control laws design. Proportional and Derivative (PD) with gravity compensation control is well-known control used in manipulators to ensure global asymptotic stability for fixed symmetrical positive definite gain matrices. To enhance PD with gravity compensation controller performance, in this paper, we propose hybrid fuzzy PD control precompensation with gravity compensation, consisting of a fuzzy logic-based precompensator followed by hybrid fuzzy PD with gravity compensation controller. Hybrid

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23

Talebi, H. A., K. Khorasani, and R. V. Patel. "Tracking control of a flexible-link manipulator using neural networks: experimental results." Robotica 20, no. 4 (2002): 417–27. http://dx.doi.org/10.1017/s026357470200406x.

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In this paper, the problem of tip position tracking control of a flexible-link manipulator is considered. Two neural network schemes are presented. In the first scheme, the controller is composed of a stabilizing joint PD controller and a neural network tracking controller. The objective is to simultaneously achieve hub-position tracking and control of the elastic deflections at the tip. In the second scheme, tracking control of a point along the arm is considered to avoid difficulties associated with the output feedback control of a non-minimum phase flexible manipulator. A separate neural ne

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Li, Ning, Na Wang, Zhiyong Liu, and Lei Yang. "Active Disturbance Rejection-based Double-loop Control Design for Large Antenna's Servo System." Publications of the Astronomical Society of the Pacific 135, no. 1053 (2023): 115001. http://dx.doi.org/10.1088/1538-3873/acff86.

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Abstract Radio astronomical observations put stringent requirements on the tracking and pointing accuracy of radio telescope antennas. High inertia, low stiffness, underdamped, and multi-resonant frequencies of a large aperture radio telescope’s antenna make the high-accuracy control difficult. It is not easy to satisfy control performance using only conventional PID controllers. A low-order Active Disturbance Rejection-based double-loop controller for large antenna is designed in this paper and tested on the Green Bank Telescope model. First, the first-order Linear Active Disturbance Rejectin

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Sa'id, Waladin K., Bahaa I. Kazem, and Alya'a M. Manaty. "Hybrid Controller for a Single Flexible Link Manipulator." Journal of Engineering 18, no. 11 (2023): 1242–54. http://dx.doi.org/10.31026/j.eng.2012.11.04.

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In this study, the dynamic modeling and step input tracking control of single flexible link is studied. The Lagrange-assumed modes approach is applied to get the dynamic model of a planner single link manipulator. A Step input tracking controller is suggested by utilizing the hybrid controller approach to overcome the problem of vibration of tip position through motion which is a characteristic of the flexible link system. The first controller is a modified version of the proportional-derivative (PD) rigid controller to track the hub position while sliding mode (SM) control is used for vibrati

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Huang, Y. J., T. C. Kuo, C. Y. Chen, B. W. Hong, and P. C. Wu. "Robust Flight Control System Design with Cerebellar Model Articulation Controller." Applied Mechanics and Materials 145 (December 2011): 579–82. http://dx.doi.org/10.4028/www.scientific.net/amm.145.579.

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This paper presents a robust proportional-derivative (PD) based cerebellar model articulation controller (CMAC) for vertical take-off and landing flight control systems. It is known that PD control is a simple and effective control method. However, it does not ensure the robustness if it is used alone for uncertain systems. CMAC can be used for robust control. However, it requires training patterns for tuning some weighting factors. A novel CMAC incorporating with a PD controller design is proposed in this paper. Successful on-line training and recalling process of CMAC accompanying the PD con

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Lee, Tian Soon, Esmail Ali Alandoli, and V. Vijayakumar. "2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking." F1000Research 10 (October 15, 2021): 1045. http://dx.doi.org/10.12688/f1000research.72912.1.

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Background Due to the high demand of robots to perform several industrial tasks, such as welding, machining, pick and place, position control in robotics has attracted high attention recently. Controllers’ improvement is also continuous specifically in terms of design simplicity and performance accuracy. This research plans to obtain the SimMechanics model of a two-degree of freedom (DOF) robot and to propose an integrated controller of a proportional–derivative (PD) controller and a fuzzy logic (FL) controller. Methodology The SimMechanics model of the 2-DOF robot is obtained using MATLAB Sim

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Lee, Tian Soon, Esmail Ali Alandoli, and V. Vijayakumar. "2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking." F1000Research 10 (November 17, 2021): 1045. http://dx.doi.org/10.12688/f1000research.72912.2.

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Background Due to the high demand of robots to perform several industrial tasks, such as welding, machining, pick and place, position control in robotics has attracted high attention recently. Controllers’ improvement is also continuous specifically in terms of design simplicity and performance accuracy. This research plans to obtain the SimMechanics model of a two-degree of freedom (DOF) robot and to propose an integrated controller of a proportional–derivative (PD) controller and a fuzzy logic (FL) controller. Methodology The SimMechanics model of the 2-DOF robot is obtained using MATLAB Sim

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Rahmani, Mehran, and Ahmad Ghanbari. "Computed Torque Control of a Caterpillar Robot Manipulator Using Neural Network." Advanced Engineering Forum 15 (February 2016): 106–18. http://dx.doi.org/10.4028/www.scientific.net/aef.15.106.

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This paper presents a neural computed torque controller, which employs to a Caterpillar robot manipulator. A description to exert a control method application neural network for nonlinear PD computed torque controller to a two sub-mechanisms Caterpillar robot manipulator. A nonlinear PD computed torque controller is obtained via utilizing a popular computed torque controller and using neural networks. The proposed controller has some advantages such as low control effort, high trajectory tracking and learning ability. The joint angles of two sub-mechanisms have been obtained by using the numer

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Ali, Tayyab, Suheel Abdullah Malik, Muhammad Adeel, and Muhammad Amir. "Set point tracking of Ball and Beam System Using Genetic Algorithm based PI-PD Controller." NUST Journal of Engineering Sciences 11, no. 1 (2019): 12–16. http://dx.doi.org/10.24949/njes.v11i1.287.

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The ball and beam system is one of the commonly used benchmark control apparatus for evaluating numerous different real systems and control strategies. It is an inherently nonlinear and open-loop unstable system. In this paper, we have suggested an Evolutionary Algorithm (EA) based Proportional Integral-Proportional Derivative (PI-PD) controller for the set point tracking of this well-known ball and beam system. A linearized model of the ball and beam system is deduced and PI-PID control methodology is employed. The popular EA technique such as Genetic algorithm (GA) is used for tuning of the

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Yu, Ya Nan, Xiu Yun Meng, and Li Chao Ma. "PSO-Based State Feedback Control of Flexible Spacecraft for Attitude Tracking and Vibration Suppression." Applied Mechanics and Materials 229-231 (November 2012): 2161–65. http://dx.doi.org/10.4028/www.scientific.net/amm.229-231.2161.

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PD state-feedback controller has been adopted in many spacecraft for attitude tracking and presents good performance. For flexible spacecraft, the controller can be designed with a term which takes into account the flexible dynamics. However, duo to nonlinearity and coupling, how to determine state-feedback control parameters which ensure fast attitude tracking and significant vibration suppression must be considered. In this paper, the dynamics model of spacecraft with flexible appendages is derived with the hybrid coordinate method and the full state feedback controller originated from the P

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Hernandez-Barragan, Jesus, Jorge D. Rios, Javier Gomez-Avila, Nancy Arana-Daniel, Carlos Lopez-Franco, and Alma Y. Alanis. "Adaptive neural PD controllers for mobile manipulator trajectory tracking." PeerJ Computer Science 7 (February 19, 2021): e393. http://dx.doi.org/10.7717/peerj-cs.393.

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Artificial intelligence techniques have been used in the industry to control complex systems; among these proposals, adaptive Proportional, Integrative, Derivative (PID) controllers are intelligent versions of the most used controller in the industry. This work presents an adaptive neuron PD controller and a multilayer neural PD controller for position tracking of a mobile manipulator. Both controllers are trained by an extended Kalman filter (EKF) algorithm. Neural networks trained with the EKF algorithm show faster learning speeds and convergence times than the training based on backpropagat

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Li, Guozhu. "An Active Disturbance Rejection Sliding Mode Contour Tracking Control for Biaxial Moving Platform." Mobile Information Systems 2022 (May 27, 2022): 1–8. http://dx.doi.org/10.1155/2022/9261251.

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A sliding mode control for active disturbance rejection was utilized for uniaxial tracking control, and a cross-coupled contour error compensation controller based on nonlinear position domain (PD) was devised for enhanced contour machining precision and robustness of biaxial moving platform. For single-axis tracking control, the total disturbance of the system was initially considered to be the external disturbance plus internal unmodeled dynamics, and the overall disturbance was estimated and compensated in real time using a linear extended state observer. A sliding mode controller was built

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Zheng, Ming Hui, Qiang Zhan, Jin Kun Liu, and Yao Cai. "Trajectory Tracking of a Spherical Robot Based on an RBF Neural Network." Advanced Materials Research 383-390 (November 2011): 631–37. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.631.

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This paper deals with trajectory tracking problem of a spherical mobile robot, BHQ-1. First, a desired velocity is obtained by proposing a PD controller based on the kinematics. Then a PD controller with an RBF (Radial Basis Function) neural network is proposed based on the desired velocity and the inexact dynamics. The weights of the RBF network are designed with an adaptive rule based on the tracking error, and hence the network can compensate the uncertainties of the dynamics more effectively. Stability is presented via Lyapunov Theory and simulation results are provided to illustrate the t

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Boudjedir, Chems Eddine, Mohamed Bouri, and Djamel Boukhetala. "Iterative learning control for trajectory tracking of a parallel Delta robot." at - Automatisierungstechnik 67, no. 2 (2019): 145–56. http://dx.doi.org/10.1515/auto-2018-0086.

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Abstract This paper proposes an iterative learning controller (ILC) under the alignment condition for trajectory tracking of a parallel Delta robot, that performs various repetitive tasks for palletization. Motivated by the high cadence of our application that leads to significant coupling effects, where the traditional PD/PID fail to satisfy the requirements performances. A PD-type ILC is combined with a PD controller in order to enhance the performance through iterations during the whole operation interval. The traditional resetting condition is replaced by the practical alignment condition,

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Jain, Adinath, Hari Prasad, Sujata Dahal, and Rajesh Sudi. "PD CONTROLLER BASED UNMANNED SHIP NAVIGATION." International Journal of Research -GRANTHAALAYAH 5, no. 4RACEEE (2017): 147–54. http://dx.doi.org/10.29121/granthaalayah.v5.i4raceee.2017.3337.

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For the improvement of the performance of track keeping of unmanned water vehicle numerous ship models, wave disturbances models and distinct control algorithms has been proposed. Researchers are using variants of PID controllers, Adaptive controllers and Predictive controllers for accurate trajectory control. Being simpler in nature still PID controller are popular in control domain. In this paper we have implemented PD based controller for trajectory control of unmanned vehicle considering all standard models of sea disturbances. Analysis of result obtained using PD control proved that path

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Zhu, G., S. S. Ge, and T. H. Lee. "Simulation studies of tip tracking control of a single-link flexible robot based on a lumped model." Robotica 17, no. 1 (1999): 71–78. http://dx.doi.org/10.1017/s0263574799000971.

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In this paper, tip tracking control of a single-link flexible robot is studied through computer simulations. The controller investigated is of a two-loop PD type, which is deduced from a control approach originally developed for elastic joint robots. A very simple model, with the flexible link of the robot being lumped to a spring-mass unit, is employed for the controller design. Bounded Input and Bounded Output (BIBO) stable tip tracking performance is guaranteed. The controller is robustly stable under system parameter uncertainties, and is comparatively easy to implement. In the simulations

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Bingul, Zafer, and Kursad Gul. "Intelligent-PID with PD Feedforward Trajectory Tracking Control of an Autonomous Underwater Vehicle." Machines 11, no. 2 (2023): 300. http://dx.doi.org/10.3390/machines11020300.

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This paper investigates the model-free trajectory tracking control problem for an autonomous underwater vehicle (AUV) subject to the ocean currents, external disturbances, measurement noise, model parameter uncertainty, initial tracking errors, and thruster malfunction. A novel control architecture based on model-free control principles is presented to guarantee stable and precise trajectory tracking performance in the complex underwater environment for AUVs. In the proposed hybrid controller, intelligent-PID (i-PID) and PD feedforward controllers are combined to achieve better disturbance rej

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Fang, Ming-Chung, and Jhih-Hong Luo. "The Ship Track Keeping With Roll Reduction Using a Multiple-States PD Controller on the Rudder Operation." Marine Technology and SNAME News 45, no. 01 (2008): 21–27. http://dx.doi.org/10.5957/mt1.2008.45.1.21.

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The paper presents a nonlinear hydrodynamic numerical model with multiple-states proportional-derivative (PD) controllers for simulating the ship's tracking in random sea. By way of the rudder operation, the track-keeping ability of the PD controller on the ship is examined using the line-of-sight (LOS) guidance technique. Furthermore, the roll-reduction function using the rudder control is also included in the PD controller. From the present simulation results, the single-input multiple-output (SIMO) heading/roll PD controller including LOS technique developed here indeed works, either for th

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Lu, Mingqing, Wei Yang, Fei Liao, Shichong Wu, Yumin Su, and Wenhua Wu. "Quaternion-Based Fast SMC–PD Cross-Domain Tracking Control for Coaxial Hybrid Aerial–Underwater Vehicle Under Oceanic Disturbances." Applied Sciences 15, no. 2 (2025): 703. https://doi.org/10.3390/app15020703.

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In this study, nonsingular modeling and cross-domain trajectory tracking control problems for a special class of coaxial hybrid aerial–underwater vehicles (HAUVs) are investigated. Coaxial HAUVs need to effectively overcome the influence of hydrodynamic factors when moving underwater, so the attitude angle required by coaxial HAUVs is much larger than that in the air. The attitude representation based on quaternion modeling is adopted to avoid the inherent singularity of Euler angle modeling. A cascade sliding mode control and proportion differentiation (SMC-PD) controller is proposed, which i

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Carrillo-Serrano, R. V., V. M. Hernández-Guzmán, and V. Santibáñez. "PD control with feedforward compensation for rigid robots actuated by brushless DC motors." Robotica 29, no. 4 (2010): 507–14. http://dx.doi.org/10.1017/s0263574710000329.

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SUMMARYThis work is concerned with trajectory tracking of robots when the electrical dynamics of the brushless DC motor actuators is considered. It is shown that proportional-derivative (PD) control with feedforward compensation, plus some additional terms to cope with the electrical dynamics, ensures state boundedness. Furthermore, tracking error converges to zero from arbitrarily large initial conditions if controller gains are correctly chosen. Under mild assumptions, this controller reduces to the well-known PD control with feedforward compensation when implemented according to torque cont

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AL-Hussein, Abdul-Basset. "Neural Network-Based Adaptive Control of Robotic Manipulator: Application to a Three Links Cylindrical Robot." Iraqi Journal for Electrical and Electronic Engineering 13, no. 1 (2017): 114–22. http://dx.doi.org/10.37917/ijeee.13.1.13.

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A composite PD and sliding mode neural network (NN)-based adaptive controller, for robotic manipulator trajectory tracking, is presented in this paper. The designed neural networks are exploited to approximate the robotics dynamics nonlinearities, and compensate its effect and this will enhance the performance of the filtered error based PD and sliding mode controller. Lyapunov theorem has been used to prove the stability of the system and the tracking error boundedness. The augmented Lyapunov function is used to derive the NN weights learning law. To reduce the effect of breaching the NN lear

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Shamseldin, Mohamed A. "Optimal Covid-19 Based PD/PID Cascaded Tracking Control for Robot Arm driven by BLDC Motor." WSEAS TRANSACTIONS ON SYSTEMS 20 (August 2, 2021): 217–27. http://dx.doi.org/10.37394/23202.2021.20.24.

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This paper presents an efficient covid-19 optimization algorithm to find the optimal values of the PD/PID cascaded controller. The purpose of the control algorithm is to force the link shaft to follow the desired reference position with good accuracy all time. This objective should be achieved for different position/time tracks regardless of load disturbance and parameter variations. This work, simulating how the covid-19 spreads and infects to optimize the parameters of the PD/ PID control. The initial values of PD/PID controller parameters consider the zero patient, which infects new patient

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Mejía-Delgadillo, Marcos, Rubén Garrido, and Efrén Mezura-Montes. "Tuning of an I-PD Controller Applied to a Servo System Using the Differential Evolution Algorithm." Memorias del Congreso Nacional de Control Automático 7, no. 1 (2024): 250–55. https://doi.org/10.58571/cnca.amca.2024.043.

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This work focuses on tuning of an I-PD controller using the Differential Evolution (ED) algorithm. The cost function employed in this research aims to minimize both the tracking error and the energy consumption of the controller. The ED algorithm shows satisfactory results in finding suitable gain values for the I-PD controller, which were validated on an experimental platform. Additionally, the study highlights the importance of incorporating the stability conditions imposed to the controller gains as constraints in the tuning process to ensure that the solutions provided by the ED algorithm

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Hu, Muqun. "Integrated L1 adaptive cartesian PD control for robotic loco-manipulation." Theoretical and Natural Science 14, no. 1 (2023): 186–96. http://dx.doi.org/10.54254/2753-8818/14/20240944.

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This paper presents an integrated framework of L1 adaptive control and Cartesian PD control that overcomes the inherent limitations of the latter controller in tracking end effector position for loco-manipulation tasks. In a simplified system, this work represented the loco-manipulation problem with the Cartesian space dynamics of the end effector object, capturing the dominating parts of the dynamics in linear terms. The unmodeled nonlinear dynamics, along with other model uncertainties and external disturbances, are accounted for by the L1 adaptive controller, taking the Cartesian PD input a

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Kumar D, Anil, and Dr Hariprasad S A. "Design and Implementation of Pd based Controller for Accurate Tracking/Heading Angle." International Journal of Engineering & Technology 7, no. 4.5 (2018): 280. http://dx.doi.org/10.14419/ijet.v7i4.5.20089.

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The undesirable effects of the sea on the marine vessel became more noticeable when significant changes were introduced to the design and development of the ship. In order to accurately determine the heading angle of the ship various controllers like PD, pi,pid, predictive and adaptive controllers can be used. Predictive controllers provide accurate heading angles but the computation time becomes a huge challenge. PI controller promises stability but the steady state response time is more. In this work, we have made an attempt to evaluate PD, pi, and PID controller operation for a ship model a

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Mosquera, Guillermo, Vladimir Bonilla, Sofía Vergara, Christian Rueda, and Marcelo Moya. "Design and Comparison of Controllers for a Robotic Transfemoral Prosthesis." Data and Metadata 4 (March 28, 2025): 759. https://doi.org/10.56294/dm2025759.

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This study investigates the performance of four control strategies—Proportional-Derivative (PD), Feedforward-Feedback PD (FF-FB PD), Linear Quadratic Regulator (LQR), and Feedforward-Feedback LQR (FF-FB LQR)—implemented on a robotic transfemoral prosthesis. The performance metrics, including overshoot, settling time, trajectory tracking accuracy, and torque requirements, were evaluated using simulation models. The results indicate that the FF-FB LQR controller demonstrated superior performance, achieving the lowest overshoot (4.98%) and near-zero trajectory tracking error. All controllers requ

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Al- Hussein, Abdul-Basset. "Combined Neural Network and PD Adaptive Tracking Controller for Ship Steering System." Iraqi Journal for Electrical and Electronic Engineering 13, no. 1 (2017): 59–66. http://dx.doi.org/10.37917/ijeee.13.1.8.

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In this paper, a combined RBF neural network sliding mode control and PD adaptive tracking controller is proposed for controlling the directional heading course of a ship. Due to the high nonlinearity and uncertainty of the ship dynamics as well as the effect of wave disturbances a performance evaluation and ship controller design is stay difficult task. The Neural network used for adaptively learn the uncertain dynamics bounds of the ship and their output used as part of the control law moreover the PD term is used to reduce the effect of the approximation error inherited in the RBF networks.

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Hina N. Kadeval and V. K. Patel. "Maximum Power Point Tracking Charge Controller Using Modified Perturb and Observe Algorithm for Lead Acid Battery." Journal of Agricultural Engineering (India) 60, no. 3 (2023): 320–28. http://dx.doi.org/10.52151/jae2023603.1817.

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A study was undertaken on development of a modified perturb and observe algorithm for maximum power point tracking (MPPT) charge controller. This MPPT algorithm was developed in Matlab/Simulink environment, using three-state charging method for improved battery charging with higher efficiency. A buck topology was utilised as a DC-DC converter for charge controller implementation. The maximum power of the photovoltaic panel was tracked by a modified perturb and observe algorithm. The battery charge controller charged a lead-acid battery using a three- stage charging strategy including the bulk

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Elleuch, Dorsaf, and Tarak Damak. "Robust Model-Free Control for Robot Manipulator under Actuator Dynamics." Mathematical Problems in Engineering 2020 (August 3, 2020): 1–11. http://dx.doi.org/10.1155/2020/7417314.

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An intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled complexity of the robot manipulator under an actuator. i-PDSMC is a free model intelligent control based on the ultralocal, sliding mode, and PD control structure. A stability condition is determined by the Lyapunov theory. A comparative study between a classical PD, an intelligent PD control, and i-PDSMC is done through a robot manipulator under actuators. The simulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and e

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