This paper presents an approach for designing path-following controllers the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. is applicable to a large class paths and its effectiveness experimentally demonstrated on Chameleon R100 Ackermann steering robot. Transverse makes desired path attractive invariant, while extension allows closed-loop system achieve motion along path.

Given a control-affine system and controlled invariant submanifold, we present necessary sufficient conditions for local feedback equivalence to whose dynamics transversal the submanifold are linear controllable. A key ingredient used in analysis is new notion of transverse controllability indices control with respect set.

Path following entails having the output of a control system approach path and traverse it without priori time parameterization motion along path. We design path-following controllers for class mechanical systems applicable to closed nonclosed paths. Our uses transverse feedback linearization (TFL) partially meet our objective by putting into convenient normal form design. To remaining requirements, we present method refining TFL form. is demonstrated experimentally on five-bar robotic...

This article presents an approach to path following control design based on transverse feedback linearization. A ldquotransversalrdquo controller is designed drive the output of plant path. ldquotangentialrdquo meets application-specific requirements path, such as speed regulation and internal stability. methodology applied a five degree-of-freedom (5-DOF) magnetically levitated positioning system. Experimental results demonstrate effectiveness our design.

This work presents a path following controller for quadrotor vehicle. A smooth, dynamic, feedback is designed that allows the to follow both closed and non-closed embedded curves while maintaining desired speed, acceleration or stabilizing points along curves. The nonlinear dynamic model of transformed into linear system via coordinate linearization transformation. Once transformed, guarantees invariance enforcing motion path.

This paper presents a path following controller for quadrotor UAV experiencing single rotor failure. A smooth, dynamic feedback control law is proposed that allows the to follow both closed and non-closed embedded curves while maintaining desired velocity profile along when one out of four motors completely disabled due The nonlinear model transformed into partially linear by coordinate transformation. designed system guarantees invariance path. uncontrolled portion dynamics (internal...

Path following controllers make the output of a control system approach and traverse prespecified path with no <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</i> time-parametrization. In this paper, we present method for design applicable to framed curves generated by splines in workspace kinematically redundant mechanical systems. The class admissible paths includes self-intersecting curves. Kinematic redundancies are resolved...

Background: Optic neuritis (ON) is a complex clinical syndrome that has diverse etiologies and treatments based on its subtypes. Notably, ON associated with multiple sclerosis (MS ON) good prognosis for recovery irrespective of treatment, whereas other conditions including neuromyelitis optica spectrum disorders or myelin oligodendrocyte glycoprotein antibody–associated disease often less favorable outcomes. Delay in treatment these non-MS subtypes can lead to irreversible vision loss. It...

This article proposes a path following controller for the two input kinematic model of car-like robot. A smooth dynamic feedback control law is designed to make car's position follow large class curves with desired speed along curve. The guarantees property invariance. by characterizing manifold when one fixed. Once found we apply extension increase its dimension. We refer this process as tangential extension. then find physically meaningful differentially flat output extended system which...

Path following controllers make the output of a control system approach and traverse pre-specified path with no priori time-parametrization. This paper implements controller, based on transverse feedback linearization (TFL), which guarantees invariance to be followed. The coordinate transformation employed allows one easily design laws generate arbitrary desired motions for closed-loop system. is applied an uncertain simplified model robot manipulator none dynamic parameters are measured....

We locally solve a synchronized path-following problem for heterogeneous multiagent system consisting of differential drive robot and serial manipulator. Each is assigned simple, regular, closed curve in its output space. The outputs the systems must approach traverse their curves while synchronizing motions along paths. use notion to facilitate solution present novel synchronization controller singularity avoidance controller. controllers are all given form making implementation...

In this paper we develop a multiple model reference adaptive controller (MMRAC) with blending. The systems under consideration are non-square, i.e., the number of inputs is not equal to states; multi-input, linear, time-invariant uncertain parameters that lie inside known, compact, and convex set. Moreover, full state plant available for feedback. A online identification scheme plant's input matrices developed guarantees estimated converge underlying assumption persistence excitation. Using...

We propose a linear programming-based method of interval observer design for systems with uncertain but bounded model parameters and initial conditions. assume that each parameter in the system is by conservative guaranteed bounds, tighter conditional bounds. define class number bounds required to bound all parameters. Using robust optimization, we solve single program per obtain gains observer. A upper on worst-case steady-state performance observers over specified minimized.

In this paper the fusion of data from a network security cameras and RSS fingerprint observations are combined to facilitate simultaneous tracking multiple persons inside indoor environments. An objective developed algorithm is utilize existing building infrastructure namely networks WiFi access points. Additionally minimal initial maintenance calibration required as crowdsourcing mapping self-calibrating camera processing an integral component algorithm. Experimental results given that...

In order to provide a novel perspective for videography of high speed sporting events, highly capable trajectory tracking control methodology is developed small scale Unmanned Aerial Vehicles (UAVs). The proposed controller combines dynamic inversion with linear using the internal model approach, and relies on generating exosystem generated from available target training data. Three different aircraft models are presented each increasing levels complexity, in an effort identify simplest that...

Given a multi-input, nonlinear, time-invariant, control-affine system and controlled-invariant, closed, embedded submanifold , the local transverse feedback linearization (TFL) problem seeks coordinate transformation such that, in transformed coordinates, dynamics governing system’s evolution with respect to are linear, controllable. The is said be TFL normal form. Checkable necessary sufficient conditions for this solvable known, but, unfortunately, literature does not present prescription...