scholarly journals Construction of a WMR for Trajectory Tracking Control: Experimental Results

2013 ◽  
Vol 2013 ◽  
pp. 1-17 ◽  
Author(s):  
R. Silva-Ortigoza ◽  
C. Márquez-Sánchez ◽  
M. Marcelino-Aranda ◽  
M. Marciano-Melchor ◽  
G. Silva-Ortigoza ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Kinematic Model ◽  
Cubic Splines ◽  
Control Law ◽  
Level Control ◽  
Trajectory Tracking Control ◽  
Smooth Curves ◽  
Low Level ◽  
High Level

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position(x*,y*)and orientation(φ*). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data pointsx1*,y1*,…,xn*,yn*. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots with Actuator Dynamic Being Considered

2012 ◽  
Vol 433-440 ◽  
pp. 2596-2601 ◽  
Author(s):  
Guang Xin Han ◽  
Yan Hui Zhao
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Closed Loop ◽  
Kinematic Model ◽  
Lyapunov Theory ◽  
Control Law ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics

In this paper trajectory tracking control problem for nonholonomic wheeled mobile robots with the actuator dynamics being considered is studied. On the basis of rotation error transformation and backstepping technique, tracking control law designed for kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved. Closed-loop stability is guaranteed by Lyapunov theory and Routh-Hurwitz Criterion. Finally simulation results for tracking typical trajectory are presented.

scholarly journals Backstepping Based Trajectory Tracking Control of a Four Wheeled Mobile Robot

10.5772/6224 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 38 ◽  
Author(s):  
Umesh Kumar ◽  
Nagarajan Sukavanam
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Kinematic Equation ◽  
Pure Rolling ◽  
Tracking Strategy

For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time–indexed path in the plane consisting of position and orientation. The mobile robot is modeled as a non holonomic system subject to pure rolling, no slip constraints. To facilitate the controller design the kinematic equation can be converted into chained form using some change of co-ordinates. From the kinematic model of the robot a backstepping based tracking controller is derived. Simulation results demonstrate such trajectory tracking strategy for the kinematics indeed gives rise to an effective methodology to follow the desired trajectory asymptotically.

Trajectory Tracking Control for Micro Unmanned Aerial Vehicles

2013 ◽  
Vol 798-799 ◽  
pp. 448-451
Author(s):  
Rui Yong Zhai ◽  
Wen Dong Zhang ◽  
Zhao Ying Zhou ◽  
Sheng Bo Sang ◽  
Pei Wei Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Kinematic Model ◽  
Flight Test ◽  
Guidance System ◽  
Test Results ◽  
Control Loop ◽  
Trajectory Tracking Control ◽  
Unmanned Air Vehicle ◽  
Air Vehicle

This article considers the problem of trajectory tracking control for a micro fixed-wing unmanned air vehicle (UAV). With Bank-to-Turn (BTT) method to manage lateral deviation control of UAV, this paper discusses the outer loop guidance system, which separates the vehicle guidance problems into lateral control loop and longitudinal control loop. Based on the kinematic model of the coordinated turning of UAV, the aircraft can track a pre-specified flight path with desired error range. Flight test results on a fixed-wing UAV have indicated that the trajectory tracking control law is quite effective.

scholarly journals Discrete-time predictive trajectory tracking control for nonholonomic mobile robots with obstacle avoidance

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987731
Author(s):  
Jingjun Zhang ◽  
Shaobo Zhang ◽  
Ruizhen Gao
Keyword(s):  
Obstacle Avoidance ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Nonholonomic Mobile Robots ◽  
Trajectory Tracking Control ◽  
Time Model ◽  
Control Approach ◽  
Avoidance Control

This article presents a tracking control approach with obstacle avoidance for a mobile robot. The control law is composed of two parts. The first is a discrete-time model predictive method-based trajectory tracking control law that is derived using an optimal quadratic algorithm. The second part is the obstacle avoidance strategies that switch according to two different designed obstacle avoidance regions. The controllability of the avoidance control law is analyzed. The simulation results validate the effectiveness of the proposed control law considering both trajectory tracking and obstacle avoidance.

A trajectory tracking control law for a quadrotor with slung load

Automatica ◽  
2019 ◽  
Vol 106 ◽  
pp. 384-389 ◽  
Author(s):  
David Cabecinhas ◽  
Rita Cunha ◽  
Carlos Silvestre
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Trajectory Tracking Control

An Improved Controller Based on Chattering-Free Trajectory-Tracking Control for Underwater Profile Monitoring Vehicle

2014 ◽  
Vol 568-570 ◽  
pp. 944-947
Author(s):  
Hong Bin Zhang ◽  
Jian Yuan
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Control Law ◽  
Profile Monitoring ◽  
Trajectory Tracking Control ◽  
Distributed Controller ◽  
Chattering Free ◽  
Automation Control

An improved distributed controller for underwater profile monitoring vehicle is investigated. A chattering-free tracking control law based on chattering-free trajectory-tracking control method is proposed to make a automation control of the vehicle and a manual/auto swtiched distributed controller on Underwater Profile Monitoring Vehicle is desinged. We give the designing procedure of hardware and software of the controller.

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