Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

2008 ◽

Vol 3 (3) ◽

Cited By ~ 13

Author(s):

Ji-Chul Ryu ◽

Sunil K. Agrawal ◽

Jaume Franch

Keyword(s):

Motion Planning ◽

Dynamic Model ◽

Tracking Control ◽

Feedback Linearization ◽

Differential Flatness ◽

Dynamic Feedback ◽

Basic Approach ◽

Planning And Control ◽

Simulation Results ◽

And Control

This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is used as the basic approach in these developments. Flat outputs are found that linearize the system’s dynamic model using dynamic feedback linearization, a subclass of differential flatness. It is demonstrated that this property considerably simplifies motion planning and the development of controller. Simulation results are presented in the paper, which show that the developed controller has the desirable performance with exponential stability.

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Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

ASME 2008 Dynamic Systems and Control Conference, Parts A and B ◽

10.1115/dscc2008-2228 ◽

2008 ◽

Cited By ~ 2

Author(s):

Ji-Chul Ryu ◽

Sunil K. Agrawal

Keyword(s):

Robust Control ◽

Mobile Robot ◽

Wheeled Mobile Robot ◽

Differential Flatness ◽

Robust Controllers ◽

Robust Controller ◽

Planning And Control ◽

Tracking Controllers ◽

Simulation Results ◽

And Control

In this paper, we present two robust trajectory-tracking controllers for a differentially driven two-wheeled mobile robot using its kinematic and dynamic model in the presence of slip. The structure of the differential flatness-based controller, which is an integrated framework for planning and control, is extended in this paper to account for slip disturbances by adding a corrective control term. Simulation results for both kinematic and dynamic controllers are presented to demonstrate the effectiveness of the robust controllers. Experiments with the kinematic controller were conducted to validate the performance of the robust controller. The simulation and experimental results show that the robust controllers are very effective in the presence of slip.

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The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

Mathematical Problems in Engineering ◽

10.1155/2014/637034 ◽

2014 ◽

Vol 2014 ◽

pp. 1-9 ◽

Cited By ~ 6

Author(s):

Dewei Zhang ◽

Hui Qi ◽

Xiande Wu ◽

Yaen Xie ◽

Jiangtao Xu

Keyword(s):

Target Tracking ◽

Dynamic Model ◽

Nonlinear Dynamic ◽

Tracking Control ◽

Feedback Linearization ◽

Control Method ◽

Measurement Unit ◽

Control Algorithms ◽

Nonlinear Dynamic Model ◽

And Control

A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU). The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

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Path planning and control of a mobile base with nonholonomic constraints

Robotica ◽

10.1017/s0263574700016878 ◽

1994 ◽

Vol 12 (6) ◽

pp. 529-539 ◽

Cited By ~ 15

Author(s):

S. Jagannathan ◽

S. Q. Zhu ◽

F. L. Lewis

Keyword(s):

Motion Planning ◽

Feedback Linearization ◽

Nonholonomic Constraints ◽

Optimization Techniques ◽

Reference Trajectory ◽

Mass System ◽

Planning And Control ◽

Mobile Vehicle ◽

Planning Algorithm ◽

And Control

SummaryMotion Planning and control of mobile vehicles with nonholonomic constraints are in their infancy. A systematic approach for modeling and base; motion control of a mobile vehicle is presented. A nonlinear coordinate transformation that takes into account the complete dynamics with nonholonomic constraints is used in order to obtain a linear system in space coordinates. An input-output feedback linearization inner loop is subsequently designed to transform this system into a linear-point mass system in the coordinates corresponding to the control objectives. A rigorous yet simple approach to motion planning through optimization techniques is presented for these mobile vehicles. The resulting Cartesian trajectory generated from the motion planning algorithm is employed as the reference trajectory in the outer loop, which is designed based on a Lyapunov function candidate. The net result is a base motion controller that gives capabilities to these mobile vehicles not only for tracking a Cartesian trajectory but also to achieve a desired final orientation (docking angle).

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