scholarly journals TRAJECTORY TRACKING CONTROL FOR 4 WHEEL SKID-STEERING MOBILE ROBOT

2010 ◽  
Vol 13 (3) ◽  
pp. 83-94
Author(s):  
Nghin Van Dang ◽  
Khanh Van Quoc Nguyen
Keyword(s):  
Mobile Robot ◽  
Feedback Linearization ◽  
Nonholonomic System ◽  
Lagrange Equation ◽  
Kinematic Model ◽  
Nonholonomic Constraints ◽  
Trajectory Tracking Control ◽  
System A ◽  
Skid Steering ◽  
And Control

By applying a nonholonomic constraints and Lagrange equation for nonholonomic system, a method is given to model and control the 4-wheel skid-steering mobile robot which tracks a given trajectory. First at all, a fundamental of nonholonomic system is introduced. Next, the skid steering robot’s kinematic model and dynamic model are considered. To control the robot tracking a trajectory, a new algorithm is given by applying feedback linearization and PD control. In addition, simulation results show the good performance in tracking trajectories.

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

2019 ◽  
Author(s):  
Vikram Ramanathan ◽  
Andy Zelenak ◽  
Mitch Pryor
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Kinematic Model ◽  
Nonholonomic Constraints ◽  
Kinematic Modeling ◽  
Nonlinear Controller ◽  
Center Of Rotation ◽  
Modeling And Control ◽  
Instantaneous Center ◽  
And Control

Abstract This article presents a novel kinematic model and controller design for a mobile robot with four Centered Orientable Conventional (COC) wheels. When compared to non-conventional wheels, COC wheels perform better over rough terrain, are not subject to vertical chatter and offer better braking capability. However, COC wheels are pseudo-omnidirectional and subject to nonholonomic constraints. Several established modeling and control techniques define and control the Instantaneous Center of Rotation (ICR); however, this method involves singular configurations that are not trivial to eliminate. The proposed method uses a novel ICR-based kinematic model to avoid these singularities, and an ICR-based nonlinear controller for one ‘master’ wheel. The other ‘slave’ wheels simply track the resulting kinematic relationships between the ‘master’ wheel and the ICR. Thus, the nonlinear control problem is reduced from 12th to 3rd-order, becoming much more tractable. Simulations with a feedback linearization controller verify the approach.

Adaptive trajectory tracking control of a differential drive wheeled mobile robot

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 391-402 ◽  
Author(s):  
Khoshnam Shojaei ◽  
Alireza Mohammad Shahri ◽  
Ahmadreza Tarakameh ◽  
Behzad Tabibian
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Feedback Linearization ◽  
Dynamic Models ◽  
Parametric Uncertainty ◽  
Adaptive Controller ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics ◽  
Simulation Results

SUMMARYThis paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

scholarly journals Backstepping Based Trajectory Tracking Control of a Four Wheeled Mobile Robot

10.5772/6224 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 38 ◽  
Author(s):  
Umesh Kumar ◽  
Nagarajan Sukavanam
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Kinematic Equation ◽  
Pure Rolling ◽  
Tracking Strategy

For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time–indexed path in the plane consisting of position and orientation. The mobile robot is modeled as a non holonomic system subject to pure rolling, no slip constraints. To facilitate the controller design the kinematic equation can be converted into chained form using some change of co-ordinates. From the kinematic model of the robot a backstepping based tracking controller is derived. Simulation results demonstrate such trajectory tracking strategy for the kinematics indeed gives rise to an effective methodology to follow the desired trajectory asymptotically.

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.

Visual Servo Control for Wheeled Robot Trajectory Tracking

2011 ◽  
Vol 346 ◽  
pp. 650-656
Author(s):  
Guang Yan Xu ◽  
Xiao Yan Jia ◽  
Hong Shi ◽  
Jian Guo Cui
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Variable Structure ◽  
Visual Servo ◽  
Trajectory Tracking Control ◽  
Structure Control ◽  
Robot Trajectory ◽  
Sliding Mode Variable Structure

In this paper, we discussed the trajectory tracking control problem of the kinematic model of wheel mobile robot. Designed an asymptotic stability tracking controller, using visual servo method based on inverse system and sliding mode variable structure control, and proposed a method to measure motion state of a target mobile robot. Simulation results show this method is feasible.

scholarly journals Trajectory Tracking Control of Mobile Robot using Multi-input T-S Fuzzy Feedback Linearization

2011 ◽  
Vol 15 (7) ◽  
pp. 1447-1456
Author(s):  
Keun-Woo Hwang ◽  
Hyeon-Woo Kim ◽  
Seung-Kyu Park ◽  
Gun-Pyong Kwak ◽  
Ho-Kyun Ahn ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Trajectory Tracking Control

Output Synchronization for Teleoperation of Wheel Mobile Robot

2009 ◽  
Author(s):  
Patrick Miller ◽  
Leng-Feng Lee ◽  
Venkat Krovi
Keyword(s):  
Mobile Robot ◽  
Adaptive Controller ◽  
Robotic Systems ◽  
Lagrangian Systems ◽  
Slave System ◽  
Hardware In The Loop ◽  
System A ◽  
Output Synchronization ◽  
Stable Means ◽  
And Control

The potential for use of robotic systems in remote applications arenas has long motivated development of robust and stable means of teleoperated control of slave systems. However, telerobotic systems face challenges stemming from the devices themselves, environmental factors, communication and control complexities. To address these challenges, we will adopt the passivity based synchronization framework [1] and study its applicability to safely synchronize two heterogeneous Lagrangian systems. Within this framework, an adaptive controller identifies and stabilizes the dynamics of the master and slave systems and renders the dynamics passive to a secondary coupling input. The passive mapping used to couple the output states of the master and slave systems and is made insensitive to lossy and delayed communication medium. Specifically, an adaptive passive synchronization teleoperation controller is developed between an Omni haptic device that serves as our master and a differentially driven nonholonomic Wheel Mobile Robot (WMR) as the slave system. A battery of hardware-in-the-loop simulations are used to verify the proposed controller.

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