Trajectory Control of a Car-Like Wheeled Robot

2010 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Trajectory Control ◽  
Design Tool ◽  
Robot Dynamics ◽  
Steering Angle ◽  
Kinematic Constraints ◽  
Kinematic Control ◽  
Driving Speed ◽  
Control Scheme

This paper proposes a trajectory control method for a carlike four-wheeled mobile robot. First, a kinematic control scheme is designed based on the nonholonomic kinematic constraints of a mobile robot, in which reference driving speed and steering angle are computed for a given desired trajectory of the robot. This kinematic control scheme, generating the reference speed and steering angle, can be applied to unmanned vehicle control with a robot driver. Second, a new backstepping trajectory control scheme is designed based on the robot dynamics subject to the nonholonomic kinematic constraints, in which the desired driving force and steering torque are computed for a given desired trajectory. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the trajectory control while keeping all internal signals bounded. Finally, the validity of the theoretical results is shown by realistic computer simulations with one sampling delay in the control loop.

A Path-Generating Motion Control Scheme for a Mobile Robot in the Environment of Obstacles

2018 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Control Method ◽  
Nonholonomic Constraints ◽  
Design Tool ◽  
Lyapunov Stability Theorem ◽  
Repulsive Potential ◽  
Control Scheme ◽  
Multiple Obstacles ◽  
Mathematical Design

In this paper, a path-generating motion control scheme is proposed for a unicycle-type wheeled mobile robot navigating through multiple obstacles. The proposed motion control scheme computes the driving force and rotational torque of the robot in real time that drive the robot to a given goal position while avoiding multiple obstacles. The nonholonomic constraints as well as the dynamic equations of the mobile robot are used in the design of the motion control scheme, where a repulsive potential function is used for obstacle avoidance. In the control design, the Lyapunov stability theorem is used as a mathematical design tool. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.

Trajectory Generation and Control of a Mobile Robot in the Environment of Obstacles

2017 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Control Method ◽  
Trajectory Generation ◽  
Nonholonomic Constraints ◽  
Frequency Measurement ◽  
Design Tool ◽  
Control Scheme ◽  
And Control ◽  
Multiple Obstacles

This paper proposes a path-planning control scheme for a mobile robot navigating through multiple obstacles. The proposed control consists of a trajectory generation scheme and a motion control scheme. The trajectory generation scheme computes the translational and rotational reference velocities in real time that drive the robot to a given goal position while avoiding multiple obstacles. The trajectory generation scheme is insensitive to high-frequency measurement noises. The motion control scheme computes the driving force and rotational torque required for the robot to track the reference velocities. The nonholonomic constraints of the mobile robot are used in the design of the kinematic trajectory generation scheme, where a repulsive potential function is used for obstacle avoidance. The dynamic model of the robot is used in the design of the motion control scheme. In the control design, the Lyapunov stability theorem is used as a mathematical design tool. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Simulation Study

2009 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Design Tool ◽  
Sliding Surface ◽  
Tracking Errors ◽  
New Approach ◽  
Overhead Cranes ◽  
Control Scheme ◽  
The Stability ◽  
Load Swing

This paper proposes a new approach for the anti-swing trajectory control of overhead cranes that allows simultaneous high-speed load hoisting. The objective of this study is to design an anti-swing trajectory control scheme that is robust to unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. First, a coupled sliding surface is defined based on the load-swing dynamics, and then the stability of the coupled sliding surface is shown to be equivalent to that of trolley tracking errors. Next, a robust anti-swing trajectory control scheme, minimizing the coupled sliding surface asymptotically to zero, is designed based on the trolley and load-hoisting dynamics. Finally, the proposed control is extended to an adaptive scheme. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. The proposed control provides a practical solution for the robustness problem caused by the usual mechanical inaccuracies and installation errors in application. The proposed control also provides clear gain-tuning criteria for easy application. The validity of the theoretical results is shown by computer simulation.

A New Trajectory Control of a Car-Like Wheeled Robot

2012 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Real Time ◽  
Trajectory Control ◽  
Control Law ◽  
Steering Control ◽  
Control Laws ◽  
Driving Speed ◽  
Control Scheme ◽  
Heading Angle ◽  
Trajectory Generator ◽  
Mathematical Design

This paper proposes a trajectory control scheme for a car-like four-wheeled mobile robot. The proposed control scheme consists of a trajectory generator, a motion control law, and a steering control law. First, a real-time trajectory generator is designed based on the nonholonomic kinematic constraints of the robot, in which the reference driving speed and time rate of heading angle are computed in real time for a given desired trajectory of the robot. Next, motion and steering control laws are designed based on the dynamic model of the robot. The motion and steering control laws are used to control the robot speed and steering angle. Finally, the validity of the proposed control scheme is shown by realistic computer simulations with one sampling time delay in the control loop. In this study, the Lyapunov stability theorem and the loop shaping method are used as mathematical design tools. The proposed control guarantees asymptotic stability of the trajectory control while keeping all internal signals bounded. The proposed method of control design is much simpler than the back-stepping method.

A Conversion of a Cooperative Transportation System with Two Car-Like Mobile Robots into Two-Chain, Single-Generator Chained Form and its Steering

2009 ◽  
Vol 21 (1) ◽  
pp. 57-65 ◽  
Author(s):  
Hiroaki Yamaguchi ◽  
◽  
Tamio Arai ◽  
Keyword(s):  
Differential Geometry ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Computer Simulations ◽  
Control Method ◽  
Transportation System ◽  
Steering Angle ◽  
Single Generator ◽  
Angular Velocities ◽  
Cooperative Transportation

This paper presents a novel methodology for steering a cooperative transportation system comprising two car-like mobile robots coupled together via a carrier. The system is a three-input seven-variable drift-free nonholonomic mechanical system. The three control inputs are the moving velocity of the first mobile robot and the steering angular velocities of the two mobile robots. The seven variables are the positions of the first mobile robot along the x- and y-axes, its steering angle, its orientation, the orientation of the carrier, the steering angle of the second mobile robot, and its orientation. We first convert the system into two-chain, single-generator chained form, based on differential geometry. We secondly present a control method of the system with polynomial inputs derived in chained form. Validity of the conversion and the control method is verified by computer simulations performed on driving this cooperative transportation system into a garage. This paper is the full translation from the transactions of JSME Vol.69, No.686.

ICMA: AN EFFICIENT INTEGRATED CONGESTION CONTROL APPROACH

2019 ◽  
Vol 14 ◽  
Author(s):  
Tayyab Khan ◽  
Karan Singh ◽  
Kamlesh C. Purohit
Keyword(s):  
Congestion Control ◽  
Packet Loss ◽  
Control Method ◽  
Multicast Communication ◽  
Bandwidth Utilization ◽  
File Transfer ◽  
Control Approach ◽  
Communication Technique ◽  
Control Scheme ◽  
Multiparty Video Conferencing

Background: With the growing popularity of various group communication applications such as file transfer, multimedia events, distance learning, email distribution, multiparty video conferencing and teleconferencing, multicasting seems to be a useful tool for efficient multipoint data distribution. An efficient communication technique depends on the various parameters like processing speed, buffer storage, and amount of data flow between the nodes. If data exceeds beyond the capacity of a link or node, then it introduces congestion in the network. A series of multicast congestion control algorithms have been developed, but due to the heterogeneous network environment, these approaches do not respond nor reduce congestion quickly whenever network behavior changes. Objective: Multicasting is a robust and efficient one-to-many (1: M) group transmission (communication) technique to reduced communication cost, bandwidth consumption, processing time and delays with similar reliability (dependability) as of regular unicast. This patent presents a novel and comprehensive congestion control method known as integrated multicast congestion control approach (ICMA) to reduce packet loss. Methods: The proposed mechanism is based on leave-join and flow control mechanism along with proportional integrated and derivate (PID) controller to reduce packet loss, depending on the congestion status. In the proposed approach, Proportional integrated and derivate controller computes expected incoming rate at each router and feedback this rate to upstream routers of the multicast network to stabilize their local buffer occupancy. Results: Simulation results on NS-2 exhibit the immense performance of the proposed approach in terms of delay, throughput, bandwidth utilization, and packet loss than other existing methods. Conclusion: The proposed congestion control scheme provides better bandwidth utilization and throughput than other existing approaches. Moreover, we have discussed existing congestion control schemes with their research gaps. In the future, we are planning to explore the fairness and quality of service issue in multicast communication.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

scholarly journals The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1522
Author(s):  
Fuli Zhang ◽  
Zhaohui Yuan
Keyword(s):  
Dynamic Model ◽  
Vibration Suppression ◽  
Control Method ◽  
Coupling Effect ◽  
Flexible Manipulator ◽  
Flexible Beam ◽  
Robot Dynamics ◽  
Joint Friction ◽  
Balance Principle ◽  
Multivariable Feedback

The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

scholarly journals Bidirectional Power Sharing for DC Microgrid Enabled by Dual Active Bridge DC-DC Converter

Energies ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 404
Author(s):  
Sara J. Ríos ◽  
Daniel J. Pagano ◽  
Kevin E. Lucas
Keyword(s):  
Power Management ◽  
Distribution Systems ◽  
Control Method ◽  
Dynamic Performance ◽  
Management Control ◽  
Photovoltaic System ◽  
Dc Microgrid ◽  
Dual Active Bridge ◽  
Control Scheme ◽  
Bidirectional Power Flow

Currently, high-performance power conversion requirements are of increasing interest in microgrid applications. In fact, isolated bidirectional dc-dc converters are widely used in modern dc distribution systems. The dual active bridge (DAB) dc-dc converter is identified as one of the most promising converter topology for the mentioned applications, due to its benefits of high power density, electrical isolation, bidirectional power flow, zero-voltage switching, and symmetrical structure. This study presents a power management control scheme in order to ensure the power balance of a dc microgrid in stand-alone operation, where the renewable energy source (RES) and the battery energy storage (BES) unit are interfaced by DAB converters. The power management algorithm, as introduced in this work, selects the proper operation of the RES system and BES system, based on load/generation power and state-of-charge of the battery conditions. Moreover, a nonlinear robust control strategy is proposed when the DAB converters are in voltage-mode-control in order to enhance the dynamic performance and robustness of the common dc-bus voltage, in addition to overcoming the instability problems that are caused by constant power loads and the dynamic interactions of power electronic converters. The simulation platform is developed in MATLAB/Simulink, where a photovoltaic system and battery system are selected as the typical RES and BES, respectively. Assessments on the performance of the proposed control scheme are conducted. Comparisons with the other control method are also provided.

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