Fractional order tracking control of a wheeled mobile robot

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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Trajectory tracking control of wheeled mobile robot based on fractional order backstepping

2016 Chinese Control and Decision Conference (CCDC) ◽

10.1109/ccdc.2016.7532208 ◽

2016 ◽

Cited By ~ 3

Author(s):

Yuhan Zhao ◽

Ning Chen ◽

Yongpeng Tai

Keyword(s):

Mobile Robot ◽

Fractional Order ◽

Trajectory Tracking ◽

Tracking Control ◽

Wheeled Mobile Robot ◽

Trajectory Tracking Control

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Design, Implementation, and Validation of Robust Fractional-Order PD Controller for Wheeled Mobile Robot Trajectory Tracking

Complexity ◽

10.1155/2020/9523549 ◽

2020 ◽

Vol 2020 ◽

pp. 1-12 ◽

Cited By ~ 1

Author(s):

Lichuan Zhang ◽

Lu Liu ◽

Shuo Zhang

Keyword(s):

Mobile Robot ◽

Fractional Order ◽

Trajectory Tracking ◽

Tracking Control ◽

Control Algorithm ◽

Wheeled Mobile Robot ◽

Phase Curve ◽

Frequency Interval ◽

Trajectory Tracking Control ◽

Controlled System

In this paper, a trajectory tracking control algorithm is proposed based on the fractional-order PD (FOPD) controller for a Wheeled Mobile Robot (WMR). Firstly, an improved flat phase property is put forward as a robust controller tuning specification. This specification is capable of guaranteeing the flatness of the phase curve in a frequency interval, so the controlled system robustness can be improved. Then, the stabilization process is discussed with respect to the parameters of the FOPD controller through a visualized 3-dimensional surface, so both the stability and robustness of the controlled system can be guaranteed under the proposed controller. Furthermore, the implementation of the proposed robust FOPD controller is presented, which makes the control algorithm easy to be realized. At last, the effectiveness of the proposed trajectory tracking control algorithm is verified by the simulation and experiment results.

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

Journal of Vibration and Control ◽

10.1177/1077546321999185 ◽

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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