Hybrid adaptive tracking control method for mobile manipulator robot based on Proportional–Integral–Derivative technique

2021 ◽  
pp. 095440622110149
Author(s):  
Thanglong Mai
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Control Method ◽  
Fuzzy Neural Networks ◽  
Mobile Manipulator ◽  
Proportional Integral Derivative ◽  
Adaptive Tracking Control ◽  
Proportional Integral ◽  
Adaptive Tracking ◽  
Manipulator Robot

In this research, an adaptive tracking control method for the nonholonomic robot system is addressed based on the hybrid Proportional–Integral–Derivative (PID) technique. The proposed hybrid PID scheme first applies the merits of the traditional PID method, with the online self-learning capability for the PID – gains, to force tracking errors to zero in the presence of uncertainties. Then, in order to improve the tracking performance, an adaptive Fuzzy Neural Networks (FNN) approximator and an adaptive robust controller type-compensator are utilized to relax the uncertainties problems of the robot control system. Moreover, the nonholonomic constraint force stability of the mobile manipulator robot is also considered by an adaptive control scheme. The design of online updating laws for the proposed controllers and FNN approximator are designed by applying the Lyapunov stability theorem. Thus, besides the improvement for tracking control performance, the stability of the proposed control system is also maintained. The effectiveness, robustness and adaptability of the proposed control strategy are verified by comparative numerical simulation results.

An adaptive tracking control method for the all-wheel-driving and active-steering articulated vehicle with n-units

2021 ◽  
pp. 095440702110506
Author(s):  
Dehua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yao Cheng
Keyword(s):  
Control System ◽  
Simulation Model ◽  
Tracking Control ◽  
Control Method ◽  
Small Data ◽  
Control Performance ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Target Trajectory ◽  
Active Steering

To achieve the running control of the all-wheel-driving and active-steering articulated vehicles (AWDASAVs) with n-units, an adaptive tracking control method is proposed in this paper, which includes a real-time target trajectory generation and an adaptive tracking control system. Firstly, the AWDASAV kinematics model is derived, and then the front-axle trace as the target trajectory is computed for all rear-axle steering by using data compressing and filtering, coordinate transformation, and local spline differences, which has small data storage and high computational efficiency and makes it easier to use in AWDASAV. Secondly, an adaptive tracking control system composed of an adaptive active steering controller and a differential distribution controller is designed to achieve accurate trajectory tracking and coordinated movement for AWDASAV. Finally, the AWDASAV simulation model with five-units was built in ADAMS by code development for cross-validation simulation, and the simulations with two cases at various speeds are carried out to verify the simulation model and control method. To further investigate the proposed method, the influence of three parameters on the tracking control performance and comparison with different control methods are carried out. The results exhibit excellent tracking control performance.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

Design and verification of slip rate control system for straight line travel of high clearance self-propelled sprayer

2021 ◽  
pp. 095440702110320
Author(s):  
Wei Li ◽  
Enrong Mao ◽  
Suiying Chen ◽  
Zhen Li ◽  
Bin Xie ◽  
...  
Keyword(s):  
Control System ◽  
Field Test ◽  
Rate Control ◽  
Control Method ◽  
Slip Rate ◽  
Threshold Value ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Speed Mode ◽  
High Clearance

A slip rate control system aimed at improving the working efficiency and driving stability of a high clearance sprayer was developed. First, the two-pump, two-anti-slip control (ASC) valve, four-motor “X” drive scheme hydraulic slip rate control system was designed, and a mathematical model of the system as well as a vehicle dynamics model were established. The system includes a slip rate control strategy, a proportional-integral-derivative control method and a fuzzy adaptive proportional-integral-derivative sprayer control method. To verify the performance of the system, a simulation model was developed using MATLAB/Simulink, and the performance of the two control methods were compared. Additionally, an actual vehicle test platform was built based on 3WPG-3000 high clearance self-propelled sprayer independently developed by the research group. The simulation results revealed that when a wheel slipped, the slip rate control system was able to control the wheel slip rate and keep it within the threshold value of 0.1, thus meeting the operating requirements of the sprayer. The field test results revealed that in field operations with a low adhesion coefficient, the system was able to maintain a nearly unchanged wheel speed in both fixed speed mode and variable speed mode, maintaining a slip rate below the target of 0.1 “when in a straight running mode” in both cases. Altogether, the results of the simulation and field test verify the stability, accuracy, and practicability of the system.

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