scholarly journals Editorial Expression of Concern: Trajectory tracking system of wheeled robot based on immune algorithm and sliding mode variable structure

2021 ◽  
Author(s):  
Yanting Lan ◽  
Xiaodong Chen
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Tracking System ◽  
Variable Structure ◽  
Immune Algorithm ◽  
Wheeled Robot ◽  
Sliding Mode Variable Structure

Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment

2020 ◽  
Vol 47 (2) ◽  
pp. 219-229 ◽  
Author(s):  
Hong Jun Li ◽  
Wei Jiang ◽  
Dehua Zou ◽  
Yu Yan ◽  
An Zhang ◽  
...  
Keyword(s):  
Motion Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Control Model ◽  
Joint Motion ◽  
Content Type ◽  
Structure Control ◽  
Sliding Mode Variable Structure

Purpose In the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability control performance of the robot manipulator when conduct electric power operation, and effectively reduce the influence of disturbance factors on the robot motion control, this paper aims to presents a robust trajectory tracking motion control method for power cable robot manipulators based on sliding mode variable structure control theory. Design/methodology/approach Through the layering of aerial-online-ground robot three-dimensional control architecture, the robot joint motion dynamic model has been built, and the motion control model of the N-degrees of freedom robot system has also been obtained. On this basis, the state space expression of joint motion control under disturbance and uncertainty has been also derived, and the manipulator sliding mode variable structure trajectory tracking control model has also been established. The influence of the perturbation control parameters on the robot motion control can be compensated by the back propagation neural network learning, the stability of the controller has been analyzed by using Lyapunov theory. Findings The robot has been tested on a analog line in the lab, the effectiveness of sliding mode variable structure control is verified by trajectory tracking simulation experiments of different typical signals with different methods. The field operation experiment further verifies the engineering practicability of the control method. At the same time, the control method has the remarkable characteristics of sound versatility, strong adaptability and easy expansion. Originality/value Three-dimensional control architecture of underground-online-aerial robots has been proposed for industrial field applications in the ubiquitous power internet of things environment (UPIOT). Starting from the robot joint motion, the dynamic equation of the robot joint motion and the state space expression of the robot control system have been established. Based on this, a robot closed-loop trajectory tracking control system has been designed. A robust trajectory tracking motion control method for robots based on sliding mode variable structure theory has been proposed, and a sliding mode control model for the robot has been constructed. The uncertain parameters in the control model have been compensated by the neural network in real-time, and the sliding mode robust control law of the robot manipulator has been solved and obtained. A suitable Lyapunov function has been selected to prove the stability of the system. This method enhances the expansibility of the robot control system and shortens the development cycle of the controller. The trajectory tracking simulation experiment of the robot manipulator proves that the sliding mode variable structure control can effectively restrain the influence of disturbance and uncertainty on the robot motion stability, and meet the design requirements of the control system with fast response, high tracking accuracy and sound stability. Finally, the engineering practicability and superiority of sliding mode variable structure control have been further verified by field operation experiments.

Sliding Mode Control of a Welding Mobile Manipulator

2011 ◽  
Vol 347-353 ◽  
pp. 3211-3214
Author(s):  
Hong Mei
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Variable Structure ◽  
Convergence Speed ◽  
Mobile Manipulator ◽  
Initial Error ◽  
Initial State ◽  
Strong Robustness ◽  
Sliding Mode Variable Structure

A new sliding mode variable structure controller is proposed. First, aiming at improving the convergence speed, a new nonlinear sliding mode surface is proposed. Then, the initial error speed is designed to make the initial state of the system to be just on the sliding mode surface which is to impair the chattering and improve the robustness of the controller. Finally, a mobile manipulator with two arms is taken as an example to simulate the trajectory tracking with the proposed controller. It is found that system shows high convergence speed and strong robustness against disturbance. The chattering is also impaired greatly.

Visual Servo Control for Wheeled Robot Trajectory Tracking

2011 ◽  
Vol 346 ◽  
pp. 650-656
Author(s):  
Guang Yan Xu ◽  
Xiao Yan Jia ◽  
Hong Shi ◽  
Jian Guo Cui
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Variable Structure ◽  
Visual Servo ◽  
Trajectory Tracking Control ◽  
Structure Control ◽  
Robot Trajectory ◽  
Sliding Mode Variable Structure

In this paper, we discussed the trajectory tracking control problem of the kinematic model of wheel mobile robot. Designed an asymptotic stability tracking controller, using visual servo method based on inverse system and sliding mode variable structure control, and proposed a method to measure motion state of a target mobile robot. Simulation results show this method is feasible.

A Method for Nonlinearity Compensation of the Stabilized Tracking System

2013 ◽  
Vol 427-429 ◽  
pp. 1705-1709
Author(s):  
Hong Jie Hu ◽  
Chao Zhang ◽  
Ye Wu ◽  
Xiong Jun Wu
Keyword(s):  
Optimal Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Tracking System ◽  
Variable Structure ◽  
Tracking Accuracy ◽  
Fast Tracking ◽  
Motion Simulator ◽  
Sliding Mode Variable Structure

The rapidity and tracking accuracy of the stabilized tracking system are mainly influenced by nonlinearity Currently, various methods has concentrated on nonlinear compensation such as optimal control and sliding mode variable structure. However, the optimal control method needs precise mathematical model, and sliding mode variable structure method leads to fluctuations of the output. Thus, this paper firstly builds a physical model of the tracking system, and then designs a differential ahead and disturbance observer (DOB) controller for stabilization loop, and a disturbance observer is used to compensate nonlinearity. A case study of a single-axis motion simulator is presented to validate the proposed method. The experiment result shows that the proposed method can obviously improve the stabilized tracking platforms performance in terms of accuracy and fast tracking ability.

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