Planning and control of under-actuated mobile manipulators using differential flatness

2010 ◽  
Vol 29 (1) ◽  
pp. 35-52 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Differential Flatness ◽  
Mobile Manipulators ◽  
Planning And Control ◽  
And Control

Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

2008 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Differential Flatness ◽  
Robust Controllers ◽  
Robust Controller ◽  
Planning And Control ◽  
Tracking Controllers ◽  
Simulation Results ◽  
And Control

In this paper, we present two robust trajectory-tracking controllers for a differentially driven two-wheeled mobile robot using its kinematic and dynamic model in the presence of slip. The structure of the differential flatness-based controller, which is an integrated framework for planning and control, is extended in this paper to account for slip disturbances by adding a corrective control term. Simulation results for both kinematic and dynamic controllers are presented to demonstrate the effectiveness of the robust controllers. Experiments with the kinematic controller were conducted to validate the performance of the robust controller. The simulation and experimental results show that the robust controllers are very effective in the presence of slip.

Differential-Flatness-Based Planning and Control of a Wheeled Mobile Manipulator—Theory and Experiment

2011 ◽  
Vol 16 (4) ◽  
pp. 768-773 ◽  
Author(s):  
Chin Pei Tang ◽  
Patrick T. Miller ◽  
Venkat N. Krovi ◽  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Mobile Manipulator ◽  
Differential Flatness ◽  
Planning And Control ◽  
And Control ◽  
Theory And Experiment

scholarly journals A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

2017 ◽  
Vol 2017 ◽  
pp. 1-17 ◽  
Author(s):  
Bibhya Sharma ◽  
Jito Vanualailai ◽  
Avinesh Prasad
Keyword(s):  
Autonomous Vehicles ◽  
Formation Control ◽  
Field Method ◽  
Mobile Manipulators ◽  
End Effector ◽  
Planning And Control ◽  
Potential Field Method ◽  
Control Scheme ◽  
And Control ◽  
First Time

This paper describes the design of new centralized acceleration-based controllers for the multitask problem of motion planning and control of a coordinated lead-carrier team fixed in a dual-formation within an obstacle-ridden environment. A dϕ-strategy, where d and ϕ are Euclidean measures with respect to the lead robot, is developed to ensure virtual connectivity of the carrier robots to the lead robot. This connectivity, built into the system itself, inherently ensures globally rigid formation between each lead-carrier pair of the team. Moreover, a combination of target configuration, dϕ-strategy, orientation consensus, and avoidance of end-effector of robots results in a second, locally rigid formation (not infinitesimally rigid). Therefore, for the first time, a dual-formation control problem of a lead-carrier team of mobile manipulators is considered. This and other kinodynamic constraints have been treated simultaneously via the overarching Lyapunov-based control scheme, essentially a potential field method favored in the field of robotics. The formulation of this new scheme, demonstrated effectively via computer simulations, is timely, given that the current proposed engineering solutions, allowing autonomous vehicles on public roads, include the development of special lanes imbued with special sensors and wireless technologies.

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

2008 ◽  
Vol 3 (3) ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal ◽  
Jaume Franch
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Differential Flatness ◽  
Dynamic Feedback ◽  
Basic Approach ◽  
Planning And Control ◽  
Simulation Results ◽  
And Control

This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system’s dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller. Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability.

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

2007 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal ◽  
Jaume Franch
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Differential Flatness ◽  
Dynamic Feedback ◽  
Basic Approach ◽  
Planning And Control ◽  
Simulation Results ◽  
And Control

This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system’s dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller. Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability.

Integrated Task Planning and Control for Mobile Manipulators

2003 ◽  
Vol 22 (5) ◽  
pp. 337-354 ◽  
Author(s):  
Jindong Tan ◽  
Ning Xi ◽  
Yuechao Wang
Keyword(s):  
Mobile Manipulators ◽  
Task Planning ◽  
Planning And Control ◽  
And Control
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