Parameter Tuning of ODE-Based Walking Control Algorithm for a Six Legged Mobile Robot

2021 ◽  
pp. 553-561
Author(s):  
Şahin Yıldırım ◽  
Erdem Arslan
Keyword(s):  
Mobile Robot ◽  
Control Algorithm ◽  
Parameter Tuning ◽  
Walking Control

scholarly journals A simulation and experimental study on wheeled mobile robot path control in road roundabout environment

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983477
Author(s):  
Mohammed AH Ali ◽  
Musa Mailah
Keyword(s):  
Experimental Study ◽  
Mobile Robot ◽  
Force Control ◽  
Control Algorithm ◽  
Dynamic Modelling ◽  
Wheeled Mobile Robot ◽  
Active Force ◽  
Active Force Control ◽  
Novel Approach ◽  
Resolved Acceleration Control

A robust control algorithm for tracking a wheeled mobile robot navigating in a pre-planned path while passing through the road’s roundabout environment is presented in this article. The proposed control algorithm is derived from both the kinematic and dynamic modelling of a non-holonomic wheeled mobile robot that is driven by a differential drive system. The road’s roundabout is represented in a grid map and the path of the mobile robot is determined using a novel approach, the so-called laser simulator technique within the roundabout environment according to the respective road rules. The main control scheme is experimented in both simulation and experimental study using the resolved-acceleration control and active force control strategy to enable the robot to strictly follow the predefined path in the presence of disturbances. A fusion of the resolved-acceleration control–active force control controller with Kalman Filter has been used empirically in real time to control the wheeled mobile robot in the road’s roundabout setting with the specific purpose of eliminating the noises. Both the simulation and the experimental results show the capability of the proposed controller to track the robot in the predefined path robustly and cancel the effect of the disturbances.

scholarly journals Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Waseem Abbasi ◽  
Fazal ur Rehman
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Front Wheel ◽  
Stabilizing Controller ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Lie Brackets

This article presents adaptive integral sliding mode control algorithm for the stabilization of nonholonomic drift-free systems. First the system is transformed, by using input transform, into a special structure containing a nominal part and some unknown terms which are computed adaptively. The transformed system is then stabilized using adaptive integral sliding mode control. The stabilizing controller for the transformed system is constructed that consists of the nominal control plus a compensator control. The compensator control and the adaptive laws are derived on the basis of Lyapunov stability theory. The proposed control algorithm is applied to three different nonholonomic drift-free systems: the unicycle model, the front wheel car model, and the mobile robot with trailer model. The controllability Lie algebra of the unicycle model contains Lie brackets of depth one, the model of a front wheel car contains Lie brackets of depths one and two, and the model of a mobile robot with trailer contains Lie brackets of depths one, two, and three. The effectiveness of the proposed control algorithm is verified through numerical simulations.

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