Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot

SIMULATION ◽  
2017 ◽  
Vol 94 (9) ◽  
pp. 797-820 ◽  
Author(s):  
Saumya R Sahoo ◽  
Shital S Chiddarwar ◽  
Veer Alakshendra
Keyword(s):  
Nonlinear Control ◽  
Mobile Robot ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Graph Model ◽  
Control Algorithms ◽  
Control Law ◽  
Backstepping Controller ◽  
Simulation Results

In this paper, a bond graph model of a mobile robot with four Mecanum wheels is developed to extract a dynamic model of the robot. This is achieved using the BG_V21 tool box of MATLAB. The dynamic model thus obtained is used to derive the control law for trajectory tracking by the robot. There are two control algorithms that are used, namely, the flatness-based controller and the backstepping controller. From the simulation results, it is evident that the extracted dynamic model of the robot is accurate. Moreover, the flatness-based controller proved to have the upper hand in performance over the backstepping controller.

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.

Integration of Multibody System Dynamics With Sliding Mode Control Using FPGA Technique for Trajectory Tracking Problems

2018 ◽  
Author(s):  
Ayman A. Nada ◽  
Abdullateef H. Bashiri
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Control Systems ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Integrated Control ◽  
Equations Of Motion ◽  
Multiple Input Multiple Output ◽  
Control Law ◽  
Mode Control

Trajectory tracking robotic systems require complex control procedures that occupy less space and need less energy. For these reasons, the development of computerized and integrated control systems is crucial. Recently, developing reconfigurable Field Programmable Gate Arrays (FPGAs) give a prominence of the complete robotic control systems. Furthermore, it has been found in the literature that the model-based control methods are most efficient and cost-effective. This model must interpret how multiple moving parts interact with each other and with their environment. On the other hand, MultiBody Dynamic (MBD) approach is considered to solve these difficulties to attain the models accurately. However, the obtained equations of motion do not match the well-developed forms of control theory. In this paper, the MBD model of a mobile robot is established; and the equations of motion are reshaped into their control canonical form. Additionally, the Sliding Mode Control (SMC) theory is used to design the control law. The constraints’ manifold, which is available in the equations of the MBD system, are imposed systematically as the switching surface. SMC is applied because of its ability to address multiple-input/multiple-output nonlinear systems without resorting any approximations. Eventually, the experimental verification of the proposed algorithm is carried out using DaNI mobile robot in which, a Reconfigurable Input/Output (RIO) board is used to reorient the control design, so that can fit the required trajectory. The control law is implemented using LabVIEW software and NI-sbRIO-9631 with acceptable performance. It is obvious that the integration of MBD/SMC/FPGA can be used successfully to develop embedded systems for the applications of trajectory tracking robotics.

Adaptive trajectory tracking control of a differential drive wheeled mobile robot

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 391-402 ◽  
Author(s):  
Khoshnam Shojaei ◽  
Alireza Mohammad Shahri ◽  
Ahmadreza Tarakameh ◽  
Behzad Tabibian
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Feedback Linearization ◽  
Dynamic Models ◽  
Parametric Uncertainty ◽  
Adaptive Controller ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics ◽  
Simulation Results

SUMMARYThis paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

scholarly journals Synthetic Jet Actuator-Based Aircraft Tracking Using a Continuous Robust Nonlinear Control Strategy

2017 ◽  
Vol 2017 ◽  
pp. 1-13
Author(s):  
N. Ramos-Pedroza ◽  
W. MacKunis ◽  
M. Reyhanoglu
Keyword(s):  
Nonlinear Control ◽  
Trajectory Tracking ◽  
Parameter Uncertainty ◽  
Tracking Error ◽  
Synthetic Jet ◽  
Parameter Estimates ◽  
Control Law ◽  
Robust Nonlinear Control ◽  
Trajectory Tracking Control ◽  
Nonlinear Control Law

A robust nonlinear control law that achieves trajectory tracking control for unmanned aerial vehicles (UAVs) equipped with synthetic jet actuators (SJAs) is presented in this paper. A key challenge in the control design is that the dynamic characteristics of SJAs are nonlinear and contain parametric uncertainty. The challenge resulting from the uncertain SJA actuator parameters is mitigated via innovative algebraic manipulation in the tracking error system derivation along with a robust nonlinear control law employing constant SJA parameter estimates. A key contribution of the paper is a rigorous analysis of the range of SJA actuator parameter uncertainty within which asymptotic UAV trajectory tracking can be achieved. A rigorous stability analysis is carried out to prove semiglobal asymptotic trajectory tracking. Detailed simulation results are included to illustrate the effectiveness of the proposed control law in the presence of wind gusts and varying levels of SJA actuator parameter uncertainty.

scholarly journals MIMO Active Vibration Control of Magnetically Suspended Flywheels for Satellite IPAC Service

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Junyoung Park ◽  
Alan Palazzolo ◽  
Raymond Beach
Keyword(s):  
Vibration Control ◽  
Attitude Control ◽  
High Frequency ◽  
Active Vibration Control ◽  
Control Algorithms ◽  
Control Law ◽  
Frequency Noise ◽  
Active Vibration ◽  
Simulation Results ◽  
And Control

Theory and simulation results have demonstrated that four, variable speed flywheels could potentially provide the energy storage and attitude control functions of existing batteries and control moment gyros on a satellite. Past modeling and control algorithms were based on the assumption of rigidity in the flywheel’s bearings and the satellite structure. This paper provides simulation results and theory, which eliminates this assumption utilizing control algorithms for active vibration control (AVC), flywheel shaft levitation, and integrated power transfer and attitude control (IPAC), that are effective even with low stiffness active magnetic bearings (AMBs) and flexible satellite appendages. The flywheel AVC and levitation tasks are provided by a multiple input–multiple output control law that enhances stability by reducing the dependence of the forward and backward gyroscopic poles with changes in flywheel speed. The control law is shown to be effective even for (1) large polar to transverse inertia ratios, which increases the stored energy density while causing the poles to become more speed dependent, and for (2) low bandwidth controllers shaped to suppress high frequency noise. Passive vibration dampers are designed to reduce the vibrations of flexible appendages of the satellite. Notch, low-pass, and bandpass filters are implemented in the AMB system to reduce and cancel high frequency, dynamic bearing forces and motor torques due to flywheel mass imbalance. Successful IPAC simulation results are presented with a 12% initial attitude error, large polar to transverse inertia ratio (IP∕IT), structural flexibility, and unbalance mass disturbance.

The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design

2021 ◽  
pp. 1-23
Author(s):  
Stefan Atay ◽  
Matthew Bryant ◽  
Gregory D. Buckner
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
High Mobility ◽  
Theoretical Development ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
And Control

Abstract This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control systems, with experimental validation. The vehicle under consideration may roll along the ground to conserve power and extend endurance but may also fly to provide high mobility and maneuverability when necessary. The vehicle employs a three-axis gimbal system that decouples the rotor orientation from the vehicle's terrestrial rolling motion. A dynamic model of the vehicle's terrestrial motion is derived from first principles. The dynamic model becomes the basis for a nonlinear trajectory tracking control system suited to the architecture of the vehicle. The vehicle is over-actuated while rolling, and the additional degrees of actuation can be used to accomplish auxiliary objectives, such as power optimization and gimbal lock avoidance. Experiments with a hardware vehicle demonstrate the efficacy of the trajectory tracking control system.

Substructuring Dynamic Modeling and Active Vibration Control of a Smart Parallel Platform

2004 ◽  
Author(s):  
Xiaoyun Wang ◽  
James K. Mills
Keyword(s):  
Vibration Control ◽  
Dynamic Model ◽  
Motion Control ◽  
Dynamic Models ◽  
Active Vibration Control ◽  
System Dynamic ◽  
Control Law ◽  
Active Vibration ◽  
Parallel Platform ◽  
Simulation Results

A substructuring approach to derive dynamic models for closed-loop mechanisms is applied to model a flexible-link planar parallel platform with Lead Zirconate Titanate (PZT) transducers. The Lagrangian Finite Element (FE) formulation is used to model flexible linkages, in which translational and rotary degrees of freedom exist. Craig-Bampton mode sets are extracted from these FE models and then used to assemble the dynamic model of the planar parallel platform through the application of Lagrange’s equation and the Lagrange multiplier method. Electromechanical coupling models of surface-bonded PZT transducers with the host flexible linkages are introduced to the reduced order dynamic models of flexible linkages. The assembled system dynamic model with moderate model order can represent essential system dynamic behavior and maintain kinematic relationships of the planar parallel platform. A Proportional, Integral, and Derivative (PID) control law is used as the motion control law. Strain rate feedback (SRF) active vibration control is selected as the vibration control law. Motion control simulation results with active vibration control and simulation results without active vibration control are compared. The comparison shows the effectiveness of active vibration control.

scholarly journals Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Dictino Chaos ◽  
David Moreno-Salinas ◽  
Rocío Muñoz-Mansilla ◽  
Joaquín Aranda
Keyword(s):  
Nonlinear Control ◽  
Control Problem ◽  
Trajectory Tracking ◽  
Real System ◽  
Cascade Control ◽  
Control Law ◽  
Vehicle Stability ◽  
Outer Loop ◽  
The Real ◽  
Minimal Information

This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by means of discrete inputs. Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control commands, and with minimal information about the dynamics of the actuators. The control problem is approached as a cascade control problem, where the outer loop stabilizes the position error, and the inner loop stabilizes the orientation of the vehicle. Stability of the controller is theoretically demonstrated and the robustness of the control law against disturbances and noise is established. Simulation examples and experiments on a real setup validate the control law showing the real system to be robust against disturbances, noise, and outdated dynamics.

Dynamic Modeling and Simulation of Stratospheric Airships

2012 ◽  
Vol 457-458 ◽  
pp. 237-244
Author(s):  
Guo Chang Hu ◽  
Mei Ping Wu
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Theoretical Basis ◽  
Simulation Method ◽  
Autonomous Control ◽  
Overall Design ◽  
Stratospheric Airship ◽  
Simulation Results ◽  
Motion Characteristics

Aiming at the requirements of autonomous control for stratospheric airships, based on description of the modeling plant and forces analysis in detail, the dynamic model is established by Newton Method. The motion characteristics of airships under control action are analyzed using simulation method. Simulation results indicate the correctness of dynamic model, and can make itself a theoretical basis for the overall design of the stratospheric airship.

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