scholarly journals A simulation and experimental study on wheeled mobile robot path control in road roundabout environment

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983477
Author(s):  
Mohammed AH Ali ◽  
Musa Mailah
Keyword(s):  
Experimental Study ◽  
Mobile Robot ◽  
Force Control ◽  
Control Algorithm ◽  
Dynamic Modelling ◽  
Wheeled Mobile Robot ◽  
Active Force ◽  
Active Force Control ◽  
Novel Approach ◽  
Resolved Acceleration Control

A robust control algorithm for tracking a wheeled mobile robot navigating in a pre-planned path while passing through the road’s roundabout environment is presented in this article. The proposed control algorithm is derived from both the kinematic and dynamic modelling of a non-holonomic wheeled mobile robot that is driven by a differential drive system. The road’s roundabout is represented in a grid map and the path of the mobile robot is determined using a novel approach, the so-called laser simulator technique within the roundabout environment according to the respective road rules. The main control scheme is experimented in both simulation and experimental study using the resolved-acceleration control and active force control strategy to enable the robot to strictly follow the predefined path in the presence of disturbances. A fusion of the resolved-acceleration control–active force control controller with Kalman Filter has been used empirically in real time to control the wheeled mobile robot in the road’s roundabout setting with the specific purpose of eliminating the noises. Both the simulation and the experimental results show the capability of the proposed controller to track the robot in the predefined path robustly and cancel the effect of the disturbances.

Robust Intelligent Active Force Control Of Nonholonomic Wheeled Mobile Robot

2006 ◽  
Vol 44 (1) ◽  
Author(s):  
H. H. Tang ◽  
Musa Mailah ◽  
M. Kasim A. Jalil
Keyword(s):  
Mobile Robot ◽  
Force Control ◽  
Wheeled Mobile Robot ◽  
Active Force ◽  
Active Force Control

scholarly journals Robust Motion Control for Mobile Manipulator Using Resolved Acceleration and Proportional-Integral Active Force Control

10.5772/5794 ◽  
2005 ◽  
Vol 2 (2) ◽  
pp. 14 ◽  
Author(s):  
Musa Mailah ◽  
Endra Pitowarno ◽  
Hishamuddin Jamaluddin
Keyword(s):  
Motion Control ◽  
Force Control ◽  
Dynamic Control ◽  
Mobile Manipulator ◽  
Active Force ◽  
Proportional Integral ◽  
Active Force Control ◽  
Resolved Acceleration Control ◽  
Unknown Disturbances ◽  
Robust Motion Control

A resolved acceleration control (RAC) and proportional-integral active force control (PIAFC) is proposed as an approach for the robust motion control of a mobile manipulator (MM) comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform. The study emphasizes on the integrated kinematic and dynamic control strategy in which the RAC is used to manipulate the kinematic component while the PIAFC is implemented to compensate the dynamic effects including the bounded known/unknown disturbances and uncertainties. The effectivenss and robustness of the proposed scheme are investigated through a rigorous simulation study and later complemented with experimental results obtained through a number of experiments performed on a fully developed working prototype in a laboratory environment. A number of disturbances in the form of vibratory and impact forces are deliberately introduced into the system to evaluate the system performances. The investigation clearly demonstrates the extreme robustness feature of the proposed control scheme compared to other systems considered in the study.

Performance Analysis of the Computed Torque Based Active Force Control for a Planar Parallel Manipulator

2011 ◽  
Vol 110-116 ◽  
pp. 4932-4940 ◽  
Author(s):  
Amin Noshadi ◽  
Ali Zolfagharian ◽  
Gang Wang
Keyword(s):  
Force Control ◽  
Parallel Manipulator ◽  
Active Force ◽  
Active Force Control ◽  
Novel Approach ◽  
Planar Parallel Manipulator ◽  
Unknown Disturbances ◽  
In Series ◽  
Trajectory Tracking Controller ◽  
Computed Torque

This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force control (AFC) strategy. A PID-based computed torque controller (CTC) was first designed and developed to demonstrate the basic and stable response of the manipulator in order to follow a prescribed trajectory. Then, the AFC part was incorporated into the control scheme in series with the CTC (AFC-CTC) in a cascade form. Performance of the system was demonstrated by the computer simulation results. By using the AFC method, the design of trajectory tracking controller can be conducted based on a precise model of the system. The overall tracking performance was improved with using AFC scheme in presence of known or unknown disturbances. Results clearly illustrate the robustness and effectiveness of the proposed AFC-based scheme as a robust disturbance rejecter compared to the conventional CT controller.

scholarly journals An intelligent active force control algorithm to control an upper extremity exoskeleton for motor recovery

2016 ◽  
Vol 114 ◽  
pp. 012136 ◽  
Author(s):  
Wan Hasbullah Mohd Isa ◽  
Zahari Taha ◽  
Ismail Mohd Khairuddin ◽  
Anwar P.P. Abdul Majeed ◽  
Khairul Fikri Muhammad ◽  
...  
Keyword(s):  
Upper Extremity ◽  
Force Control ◽  
Control Algorithm ◽  
Motor Recovery ◽  
Active Force ◽  
Active Force Control

Adaptive Active Force Control Application to Twin Rotor Mimo System

2013 ◽  
Vol 393 ◽  
pp. 688-693 ◽  
Author(s):  
Hanif Ramli ◽  
Wahyu Kuntjoro ◽  
M.S. Meon ◽  
K.M Asraf K. Ishak
Keyword(s):  
Force Control ◽  
Control Algorithm ◽  
Mimo System ◽  
Active Force ◽  
Optimum Control ◽  
Active Force Control ◽  
Non Linear ◽  
Artificial Neural Network Ann ◽  
Twin Rotor Mimo System ◽  
Twin Rotor

This paper reports a current study on modeling and simulation of adaptive Active Force Control (AFC) based scheme embedded with an artificial neural network (ANN) and/or fuzzy logic (FL) in response manipulations of the twin rotor multi-input multi-output (MIMO) system (TRMS). TRMS is well known for its non-linear behaviour and common classical control scheme such as Proportional-Integral-Derivative (PID) would not be adequate to compensate disturbances. The disturbances in this case were as the results of non-linear external and internal parametric changes, namely angular momentum and couple reactions between the two axes of TRMS. The adaptive control algorithm was proposed in both pitch and yaw to generate an optimum control gain for both responses, simulated viz. MATLAB/SIMULINK software Package. The ANN and FL were integrated into the scheme and act as optimum control algorithm in catalyzing the performance of the TRMS. The results from hybrid conditions of PID-AFC, PID-AFC-ANN and PID-AFC-FL respectively were observed and analyzed. From performance evaluation, PID-AFC-FL scheme has demonstrated a potentially robust and effective manipulating capability in trajectory tracking.

scholarly journals Knowledge-Based Trajectory Error Pattern Method Applied to an Active Force Control Scheme

1970 ◽  
Vol 3 (1) ◽  
Author(s):  
Endra Pitowarno, Musa Mailah, Hishamuddin Jamaluddin
Keyword(s):  
Force Control ◽  
Error Pattern ◽  
Robot Arm ◽  
Active Force ◽  
Trajectory Error ◽  
Track Error ◽  
Knowledge Based ◽  
Inertia Matrix ◽  
Active Force Control ◽  
Control Scheme

The active force control (AFC) method is known as a robust control scheme that dramatically enhances the performance of a robot arm particularly in compensating the disturbance effects. The main task of the AFC method is to estimate the inertia matrix in the feedback loop to provide the correct (motor) torque required to cancel out these disturbances. Several intelligent control schemes have already been introduced to enhance the estimation methods of acquiring the inertia matrix such as those using neural network, iterative learning and fuzzy logic. In this paper, we propose an alternative scheme called Knowledge-Based Trajectory Error Pattern Method (KBTEPM) to suppress the trajectory track error of the AFC scheme. The knowledge is developed from the trajectory track error characteristic based on the previous experimental results of the crude approximation method. It produces a unique, new and desirable error pattern when a trajectory command is forced. An experimental study was performed using simulation work on the AFC scheme with KBTEPM applied to a two-planar manipulator in which a set of rule-based algorithm is derived. A number of previous AFC schemes are also reviewed as benchmark. The simulation results show that the AFC-KBTEPM scheme successfully reduces the trajectory track error significantly even in the presence of the introduced disturbances.Key Words:  Active force control, estimated inertia matrix, robot arm, trajectory error pattern, knowledge-based.

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