Modeling and trajectory tracking control of 6-DOF RSS type parallel manipulator

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 643-657 ◽  
Author(s):  
Ahmet Dumlu ◽  
Koksal Erenturk
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Manipulator ◽  
Dynamic Models ◽  
Torque Control ◽  
Complete Model ◽  
Trajectory Tracking Control ◽  
Coupling System

SUMMARYIn this study, kinematic analysis of 6-DOF RSS parallel manipulator using Denavit Hartenbeng (D-H) method is investigated. In addition, in order to improve the proposed method, determination of all the active and passive angles, required to obtain Jacobian and complete dynamic model of manipulator, is also achieved. The effects of dynamic models of 6-DOF RSS parallel manipulator with its actuators on trajectory tracking control are studied in detail. Feedback dynamic compensation terms of motor-mechanism coupling system that is needed to compute torque control are obtained through both a single link approximation model and a complete dynamic model. The complete model is derived by taking account of the interaction between the input links and coupler links of the manipulator. Simulations showed that obtaining complete model of manipulator by means of D-H method and using computed control law could improve the quality of trajectory tracking control of parallel manipulator.

Real-time trajectory tracking control of Stewart platform using fractional order fuzzy PID controller optimized by particle swarm algorithm

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zafer Bingul ◽  
Oguzhan Karahan
Keyword(s):  
Dynamic Model ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Fuzzy Pid ◽  
Simulation Environment ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Control Approach ◽  
Coupling Dynamic

Purpose The purpose of this paper is to address a fractional order fuzzy PID (FOFPID) control approach for solving the problem of enhancing high precision tracking performance and robustness against to different reference trajectories of a 6-DOF Stewart Platform (SP) in joint space. Design/methodology/approach For the optimal design of the proposed control approach, tuning of the controller parameters including membership functions and input-output scaling factors along with the fractional order rate of error and fractional order integral of control signal is tuned with off-line by using particle swarm optimization (PSO) algorithm. For achieving this off-line optimization in the simulation environment, very accurate dynamic model of SP which has more complicated dynamical characteristics is required. Therefore, the coupling dynamic model of multi-rigid-body system is developed by Lagrange-Euler approach. For completeness, the mathematical model of the actuators is established and integrated with the dynamic model of SP mechanical system to state electromechanical coupling dynamic model. To study the validness of the proposed FOFPID controller, using this accurate dynamic model of the SP, other published control approaches such as the PID control, FOPID control and fuzzy PID control are also optimized with PSO in simulation environment. To compare trajectory tracking performance and effectiveness of the tuned controllers, the real time validation trajectory tracking experiments are conducted using the experimental setup of the SP by applying the optimum parameters of the controllers. The credibility of the results obtained with the controllers tuned in simulation environment is examined using statistical analysis. Findings The experimental results clearly demonstrate that the proposed optimal FOFPID controller can improve the control performance and reduce reference trajectory tracking errors of the SP. Also, the proposed PSO optimized FOFPID control strategy outperforms other control schemes in terms of the different difficulty levels of the given trajectories. Originality/value To the best of the authors’ knowledge, such a motion controller incorporating the fractional order approach to the fuzzy is first time applied in trajectory tracking control of SP.

scholarly journals Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 222
Author(s):  
Xiaoshan Gao ◽  
Liang Yan ◽  
Chris Gerada
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Dynamic Models ◽  
Nonholonomic Constraints ◽  
Disturbance Attenuation ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme

Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This paper investigates the trajectory tracking control problem of WMRs via disturbance rejection in the presence of wheel skidding and slipping phenomena. The kinematic and dynamic models with the perturbed nonholonomic constraints are established. The trajectory tracking control scheme at the dynamic level is designed so that the mobile robot system can track the virtual velocity asymptotically, and counteract the perturbation caused by the unknown skidding and slipping of wheels. Both simulation and experimental works are conducted, and the results prove the performance of the proposed control scheme is effective in terms of tracking precision and disturbance attenuation.

The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design

2021 ◽  
pp. 1-23
Author(s):  
Stefan Atay ◽  
Matthew Bryant ◽  
Gregory D. Buckner
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
High Mobility ◽  
Theoretical Development ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
And Control

Abstract This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control systems, with experimental validation. The vehicle under consideration may roll along the ground to conserve power and extend endurance but may also fly to provide high mobility and maneuverability when necessary. The vehicle employs a three-axis gimbal system that decouples the rotor orientation from the vehicle's terrestrial rolling motion. A dynamic model of the vehicle's terrestrial motion is derived from first principles. The dynamic model becomes the basis for a nonlinear trajectory tracking control system suited to the architecture of the vehicle. The vehicle is over-actuated while rolling, and the additional degrees of actuation can be used to accomplish auxiliary objectives, such as power optimization and gimbal lock avoidance. Experiments with a hardware vehicle demonstrate the efficacy of the trajectory tracking control system.

Dynamic analysis and tracking trajectory control of a crane

2016 ◽  
Vol 231 (5) ◽  
pp. 1045-1052 ◽  
Author(s):  
Huang Kang ◽  
Sun Shunqiang ◽  
Zhen Shengchao ◽  
Ge Xinfang ◽  
Zhu Yongqi
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Control ◽  
Motion Trajectory ◽  
Matlab Simulation ◽  
Trajectory Tracking Control ◽  
System Trajectory ◽  
Simulation Results ◽  
Tracking Trajectory

This paper introduces a method to solve the crane motion trajectory control problem. A dynamic model is proposed based on the Udwadia–Kalaba equation, which can be solved without extra parameters, such as the Lagrange multiplier. The motion trajectory of a crane is used as a constraint (referred to as trajectory tracking constraint). To satisfy the system trajectory, a method to calculate the driving conditions on the basis of the above conditions is proposed. A 2D plane dynamic model of a crane is established. Five stages of crane movement are obtained. Simulation is performed with Matlab. Simulation results simulation show that the Udwadia–Kalaba equation can be well applied to trajectory tracking control of cranes.

scholarly journals Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller

2018 ◽  
Vol 26 (4) ◽  
pp. 292-306 ◽  
Author(s):  
Ameer L. Saleh ◽  
Maab A. Hussain ◽  
Sahar M. Klim
Keyword(s):  
Mobile Robot ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Dynamic Models ◽  
Dynamic Performance ◽  
Pso Algorithm ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Fractional Order Pid

This paper present an optimal Fractional Order PID (FOPID) controller based on Particle Swarm Optimization (PSO) for controlling the trajectory tracking of Wheeled Mobile Robot(WMR).The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories.  PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

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