scholarly journals Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Majid Taheri Andani ◽  
Zahra Ramezani ◽  
Saeed Moazami ◽  
Jinde Cao ◽  
Mohammad Mehdi Arefi ◽  
...  
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Sliding Mode Controller ◽  
Control Methods ◽  
Lyapunov Theorem ◽  
Spherical Robot ◽  
Tracking Errors ◽  
Advanced Control ◽  
Overall Stability

Due to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features. This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum. The pendulum has two input torques that allow it to take angles about the robot’s transverse and longitudinal axes. Due to mechanical technicalities, it is assumed that these angles are immeasurable. First, a neural network observer is designed to estimate the pendulum angles. Then a modified sliding mode controller is proposed for the robot’s tracking control in the presence of uncertainties. Next, the Lyapunov theorem is utilized to analyse the overall stability of the proposed scheme, including the convergence of the observer estimation and the trajectory tracking errors. Finally, simulation results are provided to indicate the effectiveness of the proposed method in comparison with the other available control approaches.

Investigation on adaptive preview distance path tracking control with directional error compensation

2019 ◽  
Vol 234 (4) ◽  
pp. 484-500 ◽  
Author(s):  
Wei Liu ◽  
Ruochen Wang ◽  
Chenyang Xie ◽  
Qing Ye
Keyword(s):  
Hierarchical Structure ◽  
Error Compensation ◽  
Tracking Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Lateral Acceleration ◽  
Sliding Mode Controller ◽  
Directional Error ◽  
Tracking Controller ◽  
Lane Change Test

Path tracking control cannot effectively satisfy the stability requirements of intelligent vehicles under large curvature conditions. To solve this problem, an adaptive preview distance path tracking controller with a hierarchical structure is proposed in this study. The vehicle centroid lateral acceleration and lateral error of the preview point are taken as the inputs of the upper controller, and the optimal preview distance is obtained based on fuzzy inference. To eliminate the subjective influence of the membership function and fuzzy rule selection in the fuzzy controller design, a genetic algorithm is used for optimization. The lower controller is a sliding mode controller that aims to achieve intelligent vehicle self-tracking. Moreover, a radial basis function neural network is adopted to combine with the sliding mode controller to eliminate output chattering. However, adaptive adjustment of the preview distance deteriorates the vehicle directional tracking error, which makes controlling the vehicle at the road curvature switching point difficult. Thus, a directional error compensation controller is designed based on the iterative learning theory to compensate the front wheel steering angle. Simulations under two standard conditions are carried out to verify the control effect. The results show that, in a double lane change test, the peak centroid acceleration and coaxial load transfer rates decreased by 26.91% and 19.83% at low velocity, respectively, and the improvements at high velocity were 42.71% and 39.22%, respectively. In the pylon course slalom test, all three performance indicators decreased by more than 30%, which indicates the modified adaptive preview distance path tracking controller with a hierarchical structure can effectively improve the vehicle handling performance and roll stability and can ensure the tracking accuracy.

A Neurodynamics Control Strategy for Real-Time Tracking Control of Autonomous Underwater Vehicles

2013 ◽  
Vol 67 (1) ◽  
pp. 113-127 ◽  
Author(s):  
Daqi Zhu ◽  
Xun Hua ◽  
Bing Sun
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Sliding Mode Controller ◽  
Tracking Errors ◽  
Biologically Inspired ◽  
Adaptive Sliding Mode Controller ◽  
Real Time Tracking

A biologically inspired neurodynamics-based tracking controller of underactuated Autonomous Underwater Vehicles (AUV) is proposed in this paper. The proposed control strategy includes a velocity controller with biological neurons and an adaptive sliding mode controller. The biological neurons are embedded into the backstepping velocity controller to eliminate the sharp speed jumps commonly existing in vehicles due to tracking errors changing suddenly. The outputs of the velocity controller are used as the command inputs of the sliding mode controller, and the thruster control constraints problems that are commonly seen in the backstepping control of AUV are solved by the proposed controller. Simulation results show that the control strategy achieved success in smoothly tracking AUV position and velocity.

Experimental tests of a sliding mode controller for trajectory tracking of a car-like mobile robot

Robotica ◽  
2013 ◽  
Vol 32 (1) ◽  
pp. 63-76 ◽  
Author(s):  
F. Hamerlain ◽  
T. Floquet ◽  
W. Perruquetti
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Sliding Mode Controller ◽  
Tracking Errors ◽  
Output Tracking ◽  
Comparative Results ◽  
Twisting Algorithm ◽  
Second Order Sliding Mode

SUMMARYThis paper deals with the problem of the practical tracking control of an experimental car-like system called the Robucar. The car-like Robucar is a four-wheeled car in a single steering mode. Based on a kinematic model of the car-like Robucar, a practical tracking controller is designed using the second-order sliding mode control of the super twisting algorithm. Hence, the output tracking of the desired trajectory is achieved, and the tracking errors vanish asymptotically. Experimental tests on the car-like Robucar are presented for simple and real-time nonholonomic trajectories, and comparative results with the conventional sliding controller demonstrate the applicability and efficiency of the proposed controller.

Sliding Mode Control of an Actuated Knee Joint Orthosis

2021 ◽  
Vol 15 ◽  
Author(s):  
Imen Saidi ◽  
Asma Hammami
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Mechanical Device ◽  
Tracking Errors ◽  
Mode Control ◽  
Speed Tracking ◽  
Human Morphology

Introduction: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

2021 ◽  
Vol 37 (5) ◽  
pp. 891-899
Author(s):  
Bingli Zhang ◽  
Jin Cheng ◽  
Pingping Zheng ◽  
Aojia Li ◽  
Xiaoyu Cheng
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Path Tracking ◽  
Steering Angle ◽  
Lateral Deviation ◽  
Yaw Rate ◽  
Automatic Navigation ◽  
Rate Feedback ◽  
The Ideal

HighlightsAutomatic navigation technology in autonomous tractors is one of the key technologies in precision agriculture.A path-tracking control algorithm based on lateral deviation and yaw rate feedback is proposed.The modified steering angle was obtained by comparing the ideal yaw rate with the actual yaw rate.The results demonstrate the efficiency and superior accuracy of the proposed algorithm for tractor path-tracking control.Abstract. The performance of path-tracking control systems for autonomous tractors affects the quality and efficiency of farmland operations. The objective of this study was to develop a path-tracking control algorithm based on lateral deviation and yaw rate feedback. The autonomous tractor path lateral dynamics model was developed based on preview theory and a two-degree-of-freedom tractor model. According to the established dynamic model, a path-tracking control algorithm using yaw angular velocity correction was designed, and the ideal steering angle was obtained by lateral deviation and sliding mode control. The modified steering angle was obtained by a proportional-integral-derivative feedback controller after comparing the ideal yaw rate with the actual yaw rate, which was then combined with the ideal steering angle to obtain the desired steering angle. The simulation and experimental results demonstrate the efficiency and superior accuracy of the proposed tractor path-tracking control algorithm, enabling its application in automatic navigation control systems for autonomous tractors. Keywords: Autonomous tractor, Path-tracking control, Sliding mode control, Yaw rate feedback.

scholarly journals Autonomous Underwater Vehicle Robust Path Tracking: Auto-Adjustable Gain High Order Sliding Mode Controller

2018 ◽  
Vol 51 (13) ◽  
pp. 161-166 ◽  
Author(s):  
J. Guerrero ◽  
E. Antonio ◽  
A. Manzanilla ◽  
J. Torres ◽  
R. Lozano
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Path Tracking ◽  
High Order ◽  
Sliding Mode Controller

Experimental Validations on Vision-Based Path Tracking With Preview Four Wheel Steering Control

2019 ◽  
Author(s):  
Yansong Peng ◽  
Fengchen Wang ◽  
Saikrishna Gurumoorthy ◽  
Yan Chen ◽  
Mutian Xin
Keyword(s):  
Tracking Control ◽  
Low Cost ◽  
Experimental Tests ◽  
Front Wheel ◽  
Path Tracking ◽  
Steering Control ◽  
Tracking Errors ◽  
The Road ◽  
Experimental Validations ◽  
Lateral Offset

Abstract In this paper, a vision-based path-tracking control strategy using four-wheel steering (4WS) is experimentally investigated via an automated ground vehicle (AGV). A low-cost monocular camera is used to continuously perceive the upcoming lane boundaries via capturing the preview road image frames. Based on the applied image processing algorithms, the vehicle lateral offset error with respect to the road center line and the heading angle error with respect to the road curvature are calculated in real time for the control purpose. The 4WS path-tracking controller is designed to minimize the two path-tracking errors of the AGV. The AGV with the 4WS system is utilized to perform the experimental tests on road to validate the path-tracking control design. For comparison, the road test is also conducted for the path-tracking control with only the front wheel steering. The experimental results show that the proposed 4WS is able to achieve better path-tracking performance.

scholarly journals Robust Adaptive Fractional Fast Terminal Sliding Mode Controller for Microgyroscope

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Juntao Fei ◽  
Zhe Wang ◽  
Xiao Liang
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Finite Convergence ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Robust Adaptive ◽  
System States ◽  
Terminal Sliding Surface

In this paper, a robust adaptive fractional fast terminal sliding mode controller is introduced into the microgyroscope for accurate trajectory tracking control. A new fast terminal switching manifold is defined to ensure fast finite convergence of the system states, where a fractional-order differentiation term emerges into terminal sliding surface, which additionally generates an extra degree of freedom and leads to better performance. Adaptive algorithm is applied to estimate the damping and stiffness coefficients, angular velocity, and the upper bound of the lumped nonlinearities. Numerical simulations are presented to exhibit the validity of the proposed method, and the comparison with the other two methods illustrates its superiority.

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