scholarly journals Verification hybrid control of a wheeled mobile robot and manipulator

2016 ◽  
Vol 6 (1) ◽  
Author(s):  
Magdalena Muszynska ◽  
Andrzej Burghardt ◽  
Krzysztof Kurc ◽  
Dariusz Szybicki
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Fuzzy Systems ◽  
Hybrid Control ◽  
Work Conditions ◽  
Control Algorithms ◽  
Control Task ◽  
Wheeled Mobile Robots ◽  
Controlled Systems ◽  
On Line

Abstract In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system’s nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

On the Tracking Control of Differentially Steered Wheeled Mobile Robots

1997 ◽  
Vol 119 (3) ◽  
pp. 455-461 ◽  
Author(s):  
Y. L Zhang ◽  
S. A. Velinsky ◽  
X. Feng
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Control Algorithms ◽  
Position Tracking ◽  
Wheeled Mobile Robots ◽  
Tracking Ability ◽  
Exact Position ◽  
Position And Orientation ◽  
Robot Configuration ◽  
Tracking Point

Fundamental tracking control algorithms of a differentially steered wheeled mobile robot with two conventional driven wheels are studied through analyzing the robot’s inherent kinematics. This includes the tracking variable assignment as well as the tracking singularity and position-orientation tracking decoupling problems. Globally convergent tracking control algorithms are proposed, which can exactly track any differentiable reference path. A fundamental motion orientation equation under the condition of exact position tracking is developed, and it is shown that it is not possible to exactly track both position and orientation concurrently for this kind of mobile robot configuration if the tracking point is not on the baseline. Examples are provided illustrating the tracking ability of the developed control algorithms.

Wheeled Mobile Robot Tracking Control without Velocity Measurement

2013 ◽  
Vol 373-375 ◽  
pp. 231-237 ◽  
Author(s):  
Qiang Wang ◽  
Guang Tong ◽  
Xin Xing
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Velocity Measurement ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Design Parameters ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Robot Tracking ◽  
Control Scheme

In this paper, a new robust trajectory tracking control scheme for wheeled mobile robots without velocity measurement is proposed. In the proposed controller, the velocity observer is used to estimate the velocity of wheeled mobile robot. The dynamics of wheeled mobile robot is considered to develop the controller. The proposed controller has the following features: i) The proposed controller has good robustness performance; ii) It is easy to improve tracking performance by setting only one design 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 Desain Sliding Mode Tracking Control untuk WMR Menggunakan Matlab

2018 ◽  
Author(s):  
Ryan Laksmana Singgeta
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Tracking Control ◽  
Sliding Mode ◽  
Wheeled Mobile Robots ◽  
Mode Control ◽  
Holonomic Systems ◽  
Mode Tracking

Mobile robot adalah salah satu jenis robot yang menggunakan aktuator/penggerak untuk mengubah keadaan serta posisi dari satu titik ke titik yang lain. Wheeled mobile robots (WMR) atau roda robot biasanya dikontrol dan dikendalikan agar bisa bergerak dan berpindah posisi sesuai yang ditentukan. Pengendalian WMR sering digunakan dalam otomasi pada proses industri serta di bidang lain seperti pertanian. Untuk mendapatkan performans WMR yang baik maka perlu merancang dan mendesain kontrol yang tepat. Dalam paper ini sliding mode tracking control di desain untuk mengendalikan wheeled mobile robots yang disimulasikannya menggunnakan Matlab. Mobile robot merupakan non-holonomic systems. Penelitian ini telah banyak dilakukan pada masalah tracking kontrol pada WMR. Skema kinematic tracking kontrol tidak mempertimbangkan dinamika atau kelembaman (inersia) dari mobile robot. Adapun metode penelitian yang dilakukan adalah pertama, disajikan model kinematik dari empat jenis roda yang umum seperti fixed, centered orientable, castor and Swedish. Mobile robot pada paper ini dianalisa dengan kajian kinematik. Kedua, mendesain sebuah sliding mode tracking control untuk menemukan target sebagai lintasan yang telah ditentukan serta untuk mengurangi error pada posisi start. Dengan sliding mode control yang telah di desain, dapat menunjukan hasil respon yang baik, dimana WMR dapat bergerak pada lintasan menuju ke titik akhir/target yang telah ditentukan.

Dexterous Trajectory Tracking Control of a Mobile Robot

2003 ◽  
Author(s):  
Zheng Zhang ◽  
Meng Ji ◽  
Nilanjan Sarkar
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Hybrid Control ◽  
Control Technique ◽  
Reference Trajectory ◽  
Trajectory Tracking Control ◽  
Navigation Strategy ◽  
Control Framework

A departure from the traditional trajectory tracking control technique of a mobile robot is presented here in order to accommodate sudden changes in the reference trajectory. It is expected that in a dynamic, uncretain environment the robot may need to make sudden changes in its navigation strategy that may necessitate such an approach. In this work, a hybrid control framework is developed that first determines a suitable control strategy for a particular subtask and then implements it by means of choosing the specific controller. A supervisor is used to determine the suitable control strategy. The swiching stability among a set of trajectory tracking controllers is analyzed. Extensive simulation results demonstrate the efficacy of the proposed control technique.

scholarly journals Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Hua Cen ◽  
Bhupesh Kumar Singh
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Wheeled Mobile Robot ◽  
Control Technique ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control

Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

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.

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