scholarly journals On the stability of mobile robots movement with cable propulsion devices

2020 ◽  
Keyword(s):  
Mobile Robots ◽  
The Stability

scholarly journals ON THE STABILITY OF PLANE MOVEMENT OF MOBILE ROBOTS

2020 ◽  
pp. 11-16
Author(s):  
E. S. Briskin ◽  
K. S. Artemyev ◽  
I. P. Vershinina ◽  
A. V. Maloletov
Keyword(s):  
Mobile Robots ◽  
Solid Body ◽  
Plane Motion ◽  
Force Action ◽  
The Stability ◽  
Pushing And Pulling

The problem of stability of the plane motion of mobile robots, including those with walking propulsion devices, is considered. Two modes of propulsion devices are compared: "pushing" and "pulling". The solution of two model problems on the plane motion of a solid body caused by kinematic and force action is presented.

scholarly journals Finite Horizon Robust Nonlinear Model Predictive Control for Wheeled Mobile Robots

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Phuong Nam Dao ◽  
Hong Quang Nguyen ◽  
Thanh Long Nguyen ◽  
Xuan Sinh Mai
Keyword(s):  
Model Predictive Control ◽  
Mobile Robots ◽  
Predictive Control ◽  
Finite Horizon ◽  
Initial State ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
The Stability ◽  
Computation Load

The control of mobile robotic systems with input constraints is still a remarkable problem for many applications. This paper studies the model predictive control-based kinematic control scheme after implementing the decoupling technique of wheeled mobile robots (WMRs). This method enables us to obtain the easier optimization problem with fixed initial state. The finite horizon in cost function of model predictive control (MPC) algorithm requires the appropriate terminal controller as well as the equivalent terminal region. The stability of MPC is determined by feasible control sequence. Finally, offline simulation results validate that the computation load is significantly reduced and also validate trajectory tracking control effectiveness of our proposed control scheme.

scholarly journals A Dynamics Controller Design Method for Car-like Mobile Robot Formation Control

2018 ◽  
Vol 160 ◽  
pp. 06003
Author(s):  
Baofang Wang ◽  
Chen Qian ◽  
Qingwei Chen
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Lyapunov Theory ◽  
State Equations ◽  
Characteristic Model ◽  
The Stability ◽  
Error State

A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots. Only kinematics controller is not enough for some cases such as the environment is rugged, and the dynamics parameters of the robot are time-varying. Simulation results show that the proposed method can improve the responding speed of the mobile robots and maintain high formation accuracy. First, we obtain the kinematic error state equations according to the leader-follower method. A kinematics controller is designed and the stability is proved by Lyapunov theory. Then the characteristic model of the dynamics inner loop is established. A sliding mode controller is designed based on the second order discrete model, and the stability of the closed-loop system is analyzed. Finally, simulations are designed in MATLAB and Microsoft Robotics Developer Studio 4 (MRDS) to verify the effectiveness of the proposed method.

PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2151-2161 ◽  
Author(s):  
E. Slawiñski ◽  
S. García ◽  
L. Salinas ◽  
V. Mut
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Force Feedback ◽  
Robot Motion ◽  
Time Varying ◽  
Control Parameters ◽  
Bilateral Teleoperation ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

SUMMARYThis paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.

Stable contour-following control of wheeled mobile robots

Robotica ◽  
2009 ◽  
Vol 27 (1) ◽  
pp. 1-12 ◽  
Author(s):  
Juan Marcos Toibero ◽  
Flavio Roberti ◽  
Ricardo Carelli
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Control Algorithms ◽  
Wheeled Mobile Robots ◽  
Distance Information ◽  
Straight Wall ◽  
The Stability ◽  
Office Environments ◽  
Wall Following ◽  
Velocity Command

SUMMARYThis paper presents a continuous wall-following controller for wheeled mobile robots based on odometry and distance information. The reference for this controller is the desired distance from the robot to the wall and allows the robot to follow straight wall contour as well as smoothly varying wall contours by including the curvature of the wall into the controller. The asymptotic stability of the control system is proved using a Lyapunov analysis. The controller is designed so as to avoid saturation of the angular velocity command to the robot. A novel switching scheme is also proposed that allows the robot to follow discontinuous contours allowing the robotic system to deal with typical problems of continuous wall-following controllers such as open corners and possible collisions. This strategy overcomes these instances by switching between dedicated behavior-based controllers. The stability of the switching control system is discussed by considering Lyapunov concepts. The proposed control systems are verified experimentally in laboratory and office environments to show the feasibility and good performance of the control algorithms.

Fault Adaptive Formation Control of Mobile Robots

2004 ◽  
Author(s):  
Bibhrajit Halder ◽  
Zhen Zhang ◽  
Nilanjan Sarkar
Keyword(s):  
Stability Analysis ◽  
Mobile Robots ◽  
Supervisory Control ◽  
Formation Control ◽  
Input Constraints ◽  
Switching Scheme ◽  
Internal Dynamics ◽  
Control Framework ◽  
Upper Level ◽  
The Stability

A supervisory control framework for a team of mobile robots to accomplish a given task in the presence of system faults is presented in this paper. The supervisor, which contains the upper-level switching logic, coordinates a set of lower-level controllers to accomplish a task. The stability analysis of both the lower-level controllers and the internal dynamics associated with them are presented. A switching scheme that satisfies the input constraints and guarantees the stability of the overall system is developed. Results from a leader-follower task with a two-robot team are presented. In this task, the follower becomes the leader when the leader develops a fault by using three lower-level controllers and a switching logic that guarantees stability of the entire operation.

Mobile Robot Movement Analysis and Design

2012 ◽  
Vol 490-495 ◽  
pp. 2480-2483
Author(s):  
Xue Peng Liu ◽  
Dong Mei Zhao
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
System Design ◽  
Movement Analysis ◽  
Wheeled Mobile Robots ◽  
Analysis And Design ◽  
Robot Trajectory ◽  
Circular Track ◽  
Curve Track ◽  
The Stability

The mobile robot trajectory curve track and circular track arc analyzed. The stability condition of wheeled mobile robots is discussed. A new robots walk system design is presented. And the walking process is analyzed.

Aspects of Lag's 5-Dof a Biped Robot Stabilization

2012 ◽  
Vol 463-464 ◽  
pp. 1193-1196
Author(s):  
Mate Csaba Zoltan ◽  
Faluvegi Erzsebet ◽  
Cristea Luciana
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Biped Robot ◽  
Stability Study ◽  
Bipedal Robots ◽  
Biped Robots ◽  
The Stability ◽  
Rapid Modeling ◽  
Kinematic Motion ◽  
Robot Stabilization

This paper aims to present special issues concerning the analysis of mobile robots with kinematic motion effects on the stability study. In the analysis, the authors used inverse kinematics, which enables rapid modeling and identifying solutions as regards the stability of bipedal robots. The symbolic solution for kinematics equations of biped robots is of great importance for the efficient controllability of these robots.

Sign in / Sign up

Export Citation Format

Share Document