Displaying similar documents to “Servo tracking of targets at sea”

Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

Maciej Michałek, Piotr Dutkiewicz, Marcin Kiełczewski, Dariusz Pazderski (2009)

International Journal of Applied Mathematics and Computer Science

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The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip...

Optimal multivariable PID regulator

Jiří Mošna, Pavel Pešek (2000)

Kybernetika

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A continuous version of optimal LQG design under presence of Wiener disturbances is solved for MIMO controlled plant. Traditional design tools fail to solve this problem due to unstability of the augmented plant. A class of all optimality criteria, which guarantee existence of an asymptotical solution, is defined using a plant deviation model. This class is utilized in design of an optimal state and an error feedback regulator which is presented here. The resultant optimal error regulator...