scholarly journals Trajectory tracking control of AGV based on time-varying state feedback

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Jin Shang ◽  
Jian Zhang ◽  
Chengchun Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
State Feedback ◽  
Nonholonomic Constraints ◽  
Rear Wheel ◽  
Front Wheel ◽  
Time Varying ◽  
Trajectory Tracking Control ◽  
Wheel Drive ◽  
Trajectory Tracking Controller

AbstractIn order to realize the automation of transport equipment, according to the automatic guided vehicle (AGV) kinematics model, the trajectory tracking control of AGV with front wheel steering and rear wheel drive is studied. Lyapunov function is used to ensure the global stability of the system. Time-varying state feedback method based on integral backstepping is adopted, introducing virtual feedback, a trajectory tracking controller for AGV with nonholonomic constraints is proposed. In order to ensure the smooth motion of AGV, the speed and acceleration limited strategy of AGV is introduced into the controller. Simulation results show that the algorithm is fast, accurate and globally stable for different paths.

Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test

2018 ◽  
Author(s):  
Yuanyan Chen ◽  
J. Jim Zhu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Nonholonomic Constraints ◽  
Underactuated System ◽  
Model Parameters ◽  
Trajectory Tracking Control ◽  
Scaled Model ◽  
Ground Vehicle ◽  
Trajectory Tracking Controller

A car-like ground vehicle is a nonlinear and underactuated system subject to nonholonomic constraints. Trajectory tracking control of such systems is a challenging problem. To this end, a trajectory tracking controller based on nonlinear kinematics and dynamics model of a ground vehicle by Trajectory Tracking Control (TLC) is presented in our previous work. In this paper, we present hardware validation of TLC controller design with vehicle parameters determination for a Radio Controlled (RC) scaled model vehicle, experimental implementation, and tuning procedure. Hardware testing results are presented to demonstrate the effectiveness of our design. The design can be readily scaled-up to full-size vehicles and adapted to different types of autonomous ground vehicles with only knowledge of the vehicle model parameters.

scholarly journals Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 222
Author(s):  
Xiaoshan Gao ◽  
Liang Yan ◽  
Chris Gerada
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Dynamic Models ◽  
Nonholonomic Constraints ◽  
Disturbance Attenuation ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme

Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This paper investigates the trajectory tracking control problem of WMRs via disturbance rejection in the presence of wheel skidding and slipping phenomena. The kinematic and dynamic models with the perturbed nonholonomic constraints are established. The trajectory tracking control scheme at the dynamic level is designed so that the mobile robot system can track the virtual velocity asymptotically, and counteract the perturbation caused by the unknown skidding and slipping of wheels. Both simulation and experimental works are conducted, and the results prove the performance of the proposed control scheme is effective in terms of tracking precision and disturbance attenuation.

scholarly journals Model Identification and Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicles

Electronics ◽  
2019 ◽  
Vol 9 (1) ◽  
pp. 22 ◽  
Author(s):  
Xiaojie Sun ◽  
Guofeng Wang ◽  
Yunsheng Fan
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Point ◽  
Model Identification ◽  
Underactuated System ◽  
Trajectory Tracking Control ◽  
Unmanned Surface Vehicles ◽  
Trajectory Tracking Controller

To promote the development of military and civilian applications for marine technology, more and more scientific research around the world has begun to develop unmanned surface vehicles (USVs) technology with advanced control capabilities. This paper establishes and identifies the model of vector propulsion USV, which is widely used at present. After analyzing its actuator distribution, we consider that the more realistic vessel model should be an incomplete underactuated system. For this system, a virtual control point method is adopted and an adaptive sliding mode trajectory tracking controller with neural network minimum learning parameter (NNMLP) theory is designed. Finally, in the simulation experiment, the thruster speed and propulsion angle are used as the inputs of the controller, and the linear and circular trajectory tracking tests are carried out considering the delay effect of the actuator, system uncertainty, and external disturbance. The results show that the proposed tracking control framework is reasonable.

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