scholarly journals Fractional-order SMC controller for mobile robot trajectory tracking under actuator fault

2022 ◽  
pp. 1-13
Author(s):  
Minghuang Qin ◽  
Songyi Dian ◽  
Bin Guo ◽  
Xu Tao ◽  
Tao Zhao
Keyword(s):  
Mobile Robot ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Actuator Fault ◽  
Robot Trajectory

Study on Iterative Learning Control of Mobile Robot

2015 ◽  
Vol 775 ◽  
pp. 319-323
Author(s):  
Li Ping Qu ◽  
Yong Yin Qu ◽  
Hao Han Zhou
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Tracking Problem ◽  
Forgetting Factor ◽  
Robot Trajectory ◽  
Tracking Process

In order to solve the mobile robot trajectory tracking problem better, an iterative learning control (ILC) was applied. And the efficiency of mobile robot trajectory tracking was improved. From the simulation result, ILC with forgetting factor has very good performance for solving mobile robot trajectory tracking problem, and the smooth of trajectory tracking process also improved well.

scholarly journals Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

2016 ◽  
Vol 2 (3) ◽  
pp. 478 ◽  
Author(s):  
Ibari Benaoumeur ◽  
Benchikh Laredj ◽  
Hanifi Elhachimi Amar Reda ◽  
Ahmed-foitih Zoubir
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Tracking Errors ◽  
Robust Controller ◽  
Output Tracking ◽  
Robot Trajectory ◽  
Tracking Controller ◽  
Angular Velocities ◽  
The Given

This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobile robots. The main object of the control algorithms developed is to design a robust output tracking controller. The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicycle-like mobile robot is used to provides the desired values of the linear and angular velocities for the given trajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the tracking errors. Simulation and experimental results show the effectiveness of the proposed robust controller in term of accuracy and stability under different load conditions.

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