Trajectory tracking

Figure 9.7 (a) Raman spectra of pure distinct forms (b) Form trajectory tracked in real time with in situ... 

MPC for a trajectory tracking problem, with or without the output constraint. 

C.-C. Tsai, H.-H. Lin, C.-C. Lin, Trajectory tracking control of a laser-guided wheeled mobile robot, in Proceedings of the IEEE International Conference on Control Applications. (Taipei, Taiwan, Sept 2004), pp 1055-1059... 

In general, an inverse model does not have a physical realisation. The behaviour of a physical system can approximate the one of an inverse model. Nevertheless, inverse models and transfer functions of inverse models are needed, e.g. in the design of a control that ensures trajectory tracking and disturbance rejection. Clearly, the control should be robust in the presence of some uncertain parameter values. 

Kravaris C, Wright RA, Carrier JF. Nonlinear controllers for trajectory tracking in batch processes. Comput Chem Eng 1989 13 73-82. 

Figure 11. Clockwise dodecagon trajectory tracking results for PID, PID is drawn using dots and desired trajectory with solid lines...

Hauser, J., Hindman, R. (1995). Maneuver regulation from trajectory tracking Feedback lin-earizable systems. InProceeding World Congress of International Federation Automatic Control, Symposium ofNonlinear Control System Design, (pp. 638-643). IEEE. 

An Alternative for Trajectory Tracking in Mobile Robots Applying Differential Flatness... 

One solution for trajectory tracking in a non-holonomic vehicle, like a mobile robot, is proposed in this chapter. Using the boundary values, a desired route is converted into a polynomial using a point-to-point algorithm. With the properties of Differential Flatness, the system is driven along this route, finding the necessary input values so that the system can perform the desired movement. 

In Veslin (2011), a PD controller is applied in an upper arm d5mamic model that follows a trajectory parameterized through pol5momials. The application of the controller allows the model to follow a path with minimal deviation in its movement. The methodology applied in that work will be implemented in the mobile robot, in order to reduce the error in the trajectory tracking that presents itself in the current system. 

The motion generation module is implemented internally by a trajectory tracking system and a reference linear speed of the two-wheeled mobile robot. The trajectory tracking system contains a reference trajectory generated by the trajectory generator block as one of the data inputs of the array. Figure 20 depicts this module. 

Veslin, E., Slama, J., Dutra, M., Lengerke, O., Morales, M. (2011). Trajectory tracking for robot manipulators using differential flatness. Ingenieria e Investigacidn, 31(2), 84-90. 

---