Dexterous Trajectory Tracking Control of a Mobile Robot

2003 ◽  
Author(s):  
Zheng Zhang ◽  
Meng Ji ◽  
Nilanjan Sarkar
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Hybrid Control ◽  
Control Technique ◽  
Reference Trajectory ◽  
Trajectory Tracking Control ◽  
Navigation Strategy ◽  
Control Framework

A departure from the traditional trajectory tracking control technique of a mobile robot is presented here in order to accommodate sudden changes in the reference trajectory. It is expected that in a dynamic, uncretain environment the robot may need to make sudden changes in its navigation strategy that may necessitate such an approach. In this work, a hybrid control framework is developed that first determines a suitable control strategy for a particular subtask and then implements it by means of choosing the specific controller. A supervisor is used to determine the suitable control strategy. The swiching stability among a set of trajectory tracking controllers is analyzed. Extensive simulation results demonstrate the efficacy of the proposed control technique.

scholarly journals Trajectory Tracking of Autonomous Ground Vehicles with Actuator Dead Zones

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Pengfei Zhang ◽  
Qiyuan Chen ◽  
Tingting Yang
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Dead Zone ◽  
Fixed Time ◽  
Reference Trajectory ◽  
Ground Vehicles ◽  
Trajectory Tracking Control ◽  
Dead Zones ◽  
Autonomous Ground Vehicles

This paper investigates the trajectory tracking problem of autonomous ground vehicles (AGVs). The dynamics considered feature external disturbances, model uncertainties, and actuator dead zones. First, a novel time-varying yaw guidance law is proposed based on the line of sight method. By a state transformation, the AGV is proved to realize trajectory tracking control under the premise of eliminating guidance deviation. Second, a fixed time dead zone compensation control method is introduced to ensure the yaw angle tracking of the presented guidance. Furthermore, an improved fixed-time disturbance observer is proposed to compensate for the influence of the actuator dead zone on disturbance observation. Finally, the trajectory tracking control strategy is designed, and simulation comparison shows the effectiveness of the compensate method. The CarSim–MATLAB cosimulation shows that the proposed control strategy effectively makes the AGV follow the reference trajectory.

scholarly journals Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Hua Cen ◽  
Bhupesh Kumar Singh
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Wheeled Mobile Robot ◽  
Control Technique ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control

Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

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.

A novel recursive formulation for dynamic modeling and trajectory tracking control of multi-rigid-link robotic manipulators mounted on a mobile platform

2020 ◽  
pp. 095965182097390
Author(s):  
AM Shafei ◽  
H Mirzaeinejad
Keyword(s):  
Dynamic Modeling ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Robotic System ◽  
Mobile Platform ◽  
Reference Trajectory ◽  
Trajectory Tracking Control ◽  
Recursive Formulation ◽  
Mobile Base

This article establishes an innovative and general approach for the dynamic modeling and trajectory tracking control of a serial robotic manipulator with n-rigid links connected by revolute joints and mounted on an autonomous wheeled mobile platform. To this end, first the Gibbs–Appell formulation is applied to derive the motion equations of the mentioned robotic system in closed form. In fact, by using this dynamic method, one can eliminate the disadvantage of dealing with the Lagrange Multipliers that arise from nonholonomic system constraints. Then, based on a predictive control approach, a general recursive formulation is used to analytically obtain the kinematic control laws. This multivariable kinematic controller determines the desired values of linear and angular velocities for the mobile base and manipulator arms by minimizing a point-wise quadratic cost function for the predicted tracking errors between the current position and the reference trajectory of the system. Again, by relying on predictive control, the dynamic model of the system in state space form and the desired velocities obtained from the kinematic controller are exploited to find proper input control torques for the robotic mechanism in the presence of model uncertainties. Finally, a computer simulation is performed to demonstrate that the proposed algorithm can dynamically model and simultaneously control the trajectories of the mobile base and the end-effector of such a complicated and high-degree-of-freedom robotic system.

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