Semiglobal Stabilization for Nonholonomic Mobile Robots Based on Dynamic Feedback With Inputs Saturation

2012 ◽  
Vol 134 (4) ◽  
Author(s):  
Hua Chen ◽  
Chaoli Wang ◽  
Liu Yang ◽  
Dongkai Zhang
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Closed Loop ◽  
Kinematic Model ◽  
Loop System ◽  
Control Technique ◽  
Dynamic Feedback ◽  
Closed Loop System ◽  
Nonholonomic Mobile Robots ◽  
Semiglobal Stabilization

This paper investigates the semiglobal stabilization problem for nonholonomic mobile robots based on dynamic feedback with inputs saturation. A bounded, continuous, time-varying controller is presented such that the closed-loop system is semiglobally asymptotically stable. The systematic strategy combines finite-time control technique with the virtual-controller-tracked method, which is similar to the back-stepping procedure. First, the bound-constrained smooth controller is presented for the kinematic model. Second, the dynamic feedback controller is designed to make the generalized velocity converge to the prespecified kinematic (virtual) controller in a finite time. Furthermore, the rigorous proof is given for the stability analysis of the closed-loop system. In the mean time, the position and torque inputs of robots are proved to be bounded at any time. Finally, the simulation results show the effectiveness of the proposed control approach.

scholarly journals High Efficient Solar Integrated an Isolated Dc-Dc Full-Bridge Converter for Electric Vehicle Battery Charging Application

2020 ◽  
Vol 9 (4) ◽  
pp. 432-437
Keyword(s):  
Electric Vehicle ◽  
Closed Loop ◽  
Open Loop ◽  
Loop System ◽  
System Stability ◽  
Control Technique ◽  
Closed Loop System ◽  
Conductance Method ◽  
High Efficient ◽  
Electric Vehicle Battery

In this paper, the power from a solar PV panel 20VDC, 12.5ADC is used for charging an electric vehicle battery (12V, 7Ah) with the help of an isolated dc-dc converter in an efficient manner. The power rating maintained in the system is around (200-250) W. The parasitic circuit analysis is carried out theoretically. The zero voltage transition (ZVT) technique is implemented at the inverter stage and an isolation transformer (1:1) is used for source-load isolation purposes. In order to achieve ZVT, a proper design procedure is followed and a pulse triggering technique is carried out at the switching element. The designed values of the parasitic elements are used in the Simulink tool. The open loop and closed loop system of the proposed converter are simulated in MATLAB Simulink package. In the open loop system, an irradiation analysis carried out similarly closed loop has reference voltage variation analysis in order to verify the system stability at the various operating condition. The problem of transients in open loop output is rectified in the closed loop operation. The MPP and PI control technique is initiated in the closed loop system for better performance. The MPP technique used is incremental conductance method for tracking maximum power from the PV array.

Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

Robotica ◽  
2020 ◽  
pp. 1-20
Author(s):  
Roger Datouo ◽  
Joseph Jean-Baptiste Mvogo Ahanda ◽  
Achille Melingui ◽  
Frédéric Biya-Motto ◽  
Bernard Essimbi Zobo
Keyword(s):  
Finite Time ◽  
Closed Loop ◽  
Computational Cost ◽  
Backstepping Control ◽  
Lyapunov Theory ◽  
Loop System ◽  
Closed Loop System ◽  
Flexible Joint ◽  
Adaptive Fuzzy ◽  
Finite Time Stabilization

SUMMARY The problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: “explosion of terms” problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and new finite-time error compensation mechanism are constructed using inherent properties of robot manipulator systems. Based on the Lyapunov theory, the finite-time stabilization of the closed-loop system is proved. Simulation studies show the effectiveness of the proposed method.

scholarly journals Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Bingyan Chen ◽  
Baojun Li ◽  
Jinbo Zhang
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Kinematic Model ◽  
Small Neighborhood ◽  
Angle Measurement ◽  
Control Technique ◽  
Stabilization Problem ◽  
Nonholonomic Mobile Robots ◽  
Camera System ◽  
Practical Stabilization

The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in some literatures such as Morin et al. (1998), Hespanha et al. (1999), Jiang (2000), and Hong et al. (2005). Finally, the simulation results show the effectiveness of the proposed controller design approach.

scholarly journals Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Gang Chen ◽  
Tingting Gao ◽  
Jiangshuai Huang ◽  
Qicai Zhou
Keyword(s):  
Mobile Robots ◽  
Kinematic Model ◽  
Adaptive Stabilization ◽  
Backstepping Method ◽  
Closed Loop System ◽  
Nonholonomic Mobile Robots ◽  
Additional Control ◽  
Bounded Disturbances ◽  
Unknown System ◽  
Robust Adaptive

The stabilization problem of nonholonomic mobile robots with unknown system parameters and environmental disturbances is investigated in this paper. Considering the dynamic model and the kinematic model of mobile robots, the transverse function approach is adopted to construct an additional control parameter, so that the closed-loop system is not underactuated. Then the adaptive backstepping method and the parameter projection technique are applied to design the controller to stabilize the system. At last, simulation results demonstrate the effectiveness of our proposed controller schemes.

scholarly journals Disturbance Observer-Based Continuous Finite-Time Sliding Mode Control against Matched and Mismatched Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Ngo Phong Nguyen ◽  
Hyondong Oh ◽  
Yoonsoo Kim ◽  
Jun Moon
Keyword(s):  
Finite Time ◽  
Disturbance Observer ◽  
Closed Loop ◽  
Sliding Mode ◽  
Loop System ◽  
Time Varying ◽  
Time Stability ◽  
Closed Loop System ◽  
Finite Time Stability ◽  
Mismatched Disturbances

In this paper, we propose the disturbance observer-based continuous finite-time sliding mode controller (DOBCSMC) for input-affine nonlinear systems in which additive matched and mismatched disturbances exist. The objective is to show the robustness and disturbance attenuation performance of the closed-loop system with the proposed DOBCSMC subjected to general classes of matched and mismatched disturbances. The proposed DOBCSMC consists of three main features: (i) the nonlinear finite-time disturbance observer to obtain a fast and accurate estimation of matched and mismatched disturbances, (ii) the nonlinear sliding surface to ensure high precision in the steady-state phase of the controlled output, and (iii) the continuous supertwisting algorithm to guarantee finite-time convergence of the controlled output and reduce the chattering under the effect of matched and mismatched disturbances. It should be noted that the existing approaches cannot handle time-varying mismatched disturbances and/or cannot guarantee faster finite-time stability of the controlled output. We prove that the closed-loop system with the DOBCSMC guarantees both finite-time reachability to the sliding surface and finite-time stability of the controlled output to the origin. Various simulations are performed to demonstrate the effectiveness of the proposed DOBCSMC. In particular, the simulation results show that the DOBCSMC guarantees faster convergence of the closed-loop system to the origin, higher precision of the controlled output, and better robustness performance against various classes of (time-varying) matched and mismatched disturbances, compared with the existing approaches.

Vibration Control of Rotor Systems With Noncollocated Sensor/Actuator by Experimental Design

1995 ◽  
Author(s):  
S. M. Yang ◽  
G. J. Sheu ◽  
C. D. Yang
Keyword(s):  
Experimental Design ◽  
Closed Loop ◽  
Loop System ◽  
System Stability ◽  
Control Technique ◽  
Design Parameters ◽  
Closed Loop System ◽  
Rotor Systems ◽  
Sensor Actuator ◽  
Operation Speed

Abstract This paper presents a controller design methodology for vibration suppression of rotor systems in noncollocated sensor/actuator configuration. The methodology combines the experimental design method of quality engineering and the active damping control technique such that their advantages in implementation feasibility and performance-robustness can be integrated together. Compared with LQ-based design, the controller order is smaller and it is applicable to systems in an operation speed range. In addition, neither preselected sensor/actuator location nor state measurement/estimation is needed. By using the locations of sensor/actuator and the feedback gains as design parameters, the controller is shown to achieve the best possible system performance while maintaining the closed loop system stability. Analyses also show that, contrary to common believe, the performance of a closed loop system with noncollocated sensor/actuator can be superior to that with a collocated one.

scholarly journals Finite Time Inverse Optimal Stabilization for Stochastic Nonlinear Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Xiushan Cai ◽  
Yuhang Lin ◽  
Wei Zhang
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Closed Loop ◽  
Loop System ◽  
Stochastic Nonlinear Systems ◽  
Control Law ◽  
Closed Loop System ◽  
Control Lyapunov Function ◽  
Optimal Stabilization ◽  
Time Control

This paper deals with finite time inverse optimal stabilization for stochastic nonlinear systems. A concept of the stochastic finite time control Lyapunov function (SFT-CLF) is presented, and a control law for finite time stabilization for the closed-loop system is obtained. Furthermore, a sufficient condition is developed for finite time inverse optimal stabilization in probability, and a control law is designed to ensure that the equilibrium of the closed-loop system is finite time inverse optimal stable. Finally, an example is given to illustrate the applications of theorems established in this paper.

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