Trajectory tracking control of a mobile robot by computed torque method with on-line learning neural network

2013 ◽  
Author(s):  
Thuan Hoang Tran ◽  
Van Tinh Nguyen ◽  
Minh Tuan Pham ◽  
Thuong Cat Pham
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
On Line ◽  
On Line Learning ◽  
Computed Torque

Motion modeling of a non-holonomic wheeled mobile robot based on trajectory tracking control

2020 ◽  
Vol 44 (2) ◽  
pp. 228-233
Author(s):  
Xuefeng Han ◽  
Mingda Ge ◽  
Jicheng Cui ◽  
Hao Wang ◽  
Wei Zhuang
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Proportional Integral Derivative ◽  
Trajectory Tracking Control ◽  
Proportional Integral

Trajectory tracking is a problem of emphasis for the mobile robot. In this study, a coordinate transformation method was used to build a kinematic model of the wheeled mobile robot. A traditional proportional-integral-derivative control method was researched and improved by combining it with a neural network. A neural network proportional-integral-derivative trajectory tracking control method was thus designed, and a simulation experiment was performed using Simulink. The results show that in circular trajectory tracking control, the maximum errors of the X axis, Y axis, and θ were approximately 2.1 m, 2.3 m, and 0.4 rad, respectively, and that the system remained stable after running for 10 s. In straight-line trajectory tracking control, the maximum errors of the X axis, Y axis, and θ were approximately −0.8 m, 1.3 m, and 0.3 rad, respectively, and the system remained stable after running for 8 s. The error was relatively small, and the effect of trajectory tracking control was good. The studied method had good performance in terms of wheeled mobile robot trajectory tracking control and is worthy of further promotion and application.

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

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