Backstepping Control Design on the Dynamics of the Omni-Directional Mobile Robot

2012 ◽  
Vol 203 ◽  
pp. 51-56 ◽  
Author(s):  
Qing Zhu Cui ◽  
Xun Li ◽  
Xiang Ke Wang ◽  
Meng Zhang
Keyword(s):  
Lyapunov Function ◽  
Mobile Robot ◽  
Global Stability ◽  
Model Simulation ◽  
Control Design ◽  
Dynamical Model ◽  
Control Input ◽  
Newtonian Mechanics ◽  
Virtual Control ◽  
Simulation Results

The dynamical model of an omni-directional mobile robot is bulit based on the Newtonian mechanics. Correspondingly, a backstepping-based controller is then proposed with proven global stability by selecting a Lyapunov function and introducing a virtual control input for the built dynamical model. Simulation results show the effectiveness of the proposed controller.

scholarly journals Design of Connectivity Preserving Flocking Using Control Lyapunov Function

2016 ◽  
Vol 2016 ◽  
pp. 1-12
Author(s):  
Bayu Erfianto ◽  
Riyanto T. Bambang ◽  
Hilwadi Hindersah ◽  
Intan Muchtadi-Alamsyah
Keyword(s):  
Lyapunov Function ◽  
Potential Field ◽  
Control Design ◽  
Artificial Potential Field ◽  
Control Input ◽  
Control Lyapunov Function ◽  
Communication Topology ◽  
The Common ◽  
Flocking Motion

This paper investigates cooperative flocking control design with connectivity preserving mechanism. During flocking, interagent distance is measured to determine communication topology of the flocks. Then, cooperative flocking motion is built based on cooperative artificial potential field with connectivity preserving mechanism to achieve the common flocking objective. The flocking control input is then obtained by deriving cooperative artificial potential field using control Lyapunov function. As a result, we prove that our flocking protocol establishes group stabilization and the communication topology of multiagent flocking is always connected.

scholarly journals On modelling and control design for self-balanced two-wheel vehicle

2008 ◽  
Vol 30 (3) ◽  
Author(s):  
Nguyen Hoang Quang
Keyword(s):  
Numerical Simulation ◽  
Differential Equations ◽  
Mobile Robot ◽  
Equations Of Motion ◽  
Control Design ◽  
Modeling And Control ◽  
Linearized Equations ◽  
Stable Motion ◽  
Simulation Results ◽  
And Control

In this paper, the modeling and control design of a self-balancing mobile robot are presented. The method of sub-structures is employed to derive the differential equations of motion of the robot. Based on the linearized equations of motion, a controller is designed to maintain a stable motion of the robot. Some numerical simulation results are shown to clarify the designed controller.

Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling

2012 ◽  
Author(s):  
Emmanouil Spyrakos-Papastavridis ◽  
Gustavo Medrano-Cerda ◽  
Jian S. Dai ◽  
Darwin G. Caldwell
Keyword(s):  
Global Stability ◽  
Inverted Pendulum ◽  
Physical Structure ◽  
Stability Study ◽  
Dynamical Model ◽  
Hamiltonian Equations ◽  
Stabilizing Control ◽  
Control Scheme ◽  
Simulation Results ◽  
Insight Into

This paper presents a dynamical model of a compliant double-inverted pendulum that is used to approximate the physical structure of the compliant humanoid (COMAN) robot, using both the Hamiltonian and the Lagrangian approaches. A comparison between the two aims at providing insight into the various advantages and/or disadvantages associated to each approach. Through manipulation of the resulting formulae, it is shown that the Hamiltonian equations possess certain characteristics, such as the allowance of the tracking of global stability, that render this method of representation suitable for legged robotics applications. Finally, an asymptotically stabilizing control scheme is presented together with simulation results.

scholarly journals Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications

2019 ◽  
Vol 2019 ◽  
pp. 1-15 ◽  
Author(s):  
Gustavo Scaglia ◽  
Emanuel Serrano ◽  
Andres Rosales ◽  
Pedro Albertos
Keyword(s):  
Mobile Robot ◽  
Discrete Time ◽  
Tracking Control ◽  
Controller Design ◽  
Tracking Error ◽  
Control Design ◽  
Multivariable Systems ◽  
Design Technique ◽  
Simulation Results ◽  
Robotic Applications

In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.

scholarly journals Recursive Backstepping Stabilization of a Wheeled Mobile Robot

2005 ◽  
Vol 219 (6) ◽  
pp. 419-429 ◽  
Author(s):  
F Mnif ◽  
A S Yahmadi
Keyword(s):  
Lyapunov Function ◽  
Mobile Robot ◽  
Mobile Robots ◽  
State Feedback ◽  
Closed Loop ◽  
Dynamic Control ◽  
Control Design ◽  
Closed Loop System ◽  
Holonomic Constraints ◽  
Backstepping Approach

This research is aimed at the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with non-holonomic constraints were employed. A backstepping approach for the design of a discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed-loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.

Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu A. Muhammad
Keyword(s):  
Mathematical Model ◽  
System Identification ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Position Control ◽  
Superior Performance ◽  
System A ◽  
Wheeled Inverted Pendulum ◽  
Simulation Results ◽  
Real Plant

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. 

Obstacle avoidance control of a human-in-the-loop mobile robot system using harmonic potential fields

Robotica ◽  
2017 ◽  
Vol 36 (4) ◽  
pp. 463-483 ◽  
Author(s):  
C. Ton ◽  
Z. Kan ◽  
S. S. Mehta
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Sliding Mode ◽  
Harmonic Potential ◽  
Control Allocation ◽  
Control Input ◽  
Continuous Control ◽  
Control Effort ◽  
Human In The Loop ◽  
Allocation Function

SUMMARYThis paper considers applications where a human agent is navigating a semi-autonomous mobile robot in an environment with obstacles. The human input to the robot can be based on a desired navigation objective, which may not be known to the robot. Additionally, the semi-autonomous robot can be programmed to ensure obstacle avoidance as it navigates the environment. A shared control architecture can be used to appropriately fuse the human and the autonomy inputs to obtain a net control input that drives the robot. In this paper, an adaptive, near-continuous control allocation function is included in the shared controller, which continuously varies the control effort exerted by the human and the autonomy based on the position of the robot relative to obstacles. The developed control allocation function facilitates the human to freely navigate the robot when away from obstacles, and it causes the autonomy control input to progressively dominate as the robot approaches obstacles. A harmonic potential field-based non-linear sliding mode controller is developed to obtain the autonomy control input for obstacle avoidance. In addition, a robust feed-forward term is included in the autonomy control input to maintain stability in the presence of adverse human inputs, which can be critical in applications such as to prevent collision or roll-over of smart wheelchairs due to erroneous human inputs. Lyapunov-based stability analysis is presented to guarantee finite-time stability of the developed shared controller, i.e., the autonomy guarantees obstacle avoidance as the human navigates the robot. Experimental results are provided to validate the performance of the developed shared controller.

Investigation on penetration model of shaped charge jet in water

2016 ◽  
Vol 30 (02) ◽  
pp. 1550268 ◽  
Author(s):  
Jinwei Shi ◽  
Xingbai Luo ◽  
Jinming Li ◽  
Jianwei Jiang
Keyword(s):  
Numerical Simulation ◽  
Theoretical Model ◽  
Model Simulation ◽  
Theoretical Models ◽  
Theoretical Research ◽  
Water Medium ◽  
Simulation Results ◽  
Jet Penetration ◽  
The Impact ◽  
Penetration Velocity

To analyze the process of jet penetration in water medium quantitatively, the properties of jet penetration spaced target with water interlayer were studied through test and numerical simulation. Two theoretical models of jet penetration in water were proposed. The theoretical model 1 was established considering the impact of the shock wave, combined with the shock equation Rankine–Hugoniot and the virtual origin calculation method. The theoretical model 2 was obtained by fitting theoretical analysis and numerical simulation results. The effectiveness and universality of the two theoretical models were compared through the numerical simulation results. Both the models can reflect the relationship between the penetration velocity and the penetration distance in water well, and both the deviation and stability of theoretical model 1 are better than 2, the lower penetration velocity, and the larger deviation of the theoretical model 2. Therefore, the theoretical model 1 can reflect the properties of jet penetration in water effectively, and provide the reference of model simulation and theoretical research.

Nonlinear Control of Semi-Active MacPherson Suspension System

2012 ◽  
Author(s):  
Olugbenga M. Anubi ◽  
Carl D. Crane
Keyword(s):  
Closed Loop ◽  
Control Design ◽  
Mr Damper ◽  
Suspension System ◽  
Time Domain Simulation ◽  
Closed Loop System ◽  
Output Feedback Controller ◽  
Space Frequency ◽  
Simulation Results ◽  
Active Damper

This paper presents the control design and analysis of a non-linear model of a MacPherson suspension system equipped with a magnetorheological (MR) damper. The model suspension considered incorporates the kinematics of the suspension linkages. An output feedback controller is developed using an ℒ2-gain analysis based on the concept of energy dissipation. The controller is effectively a smooth saturated PID. The performance of the closed-loop system is compared with a purely passive MacPherson suspension system and a semi-active damper, whose damping coefficient is tunned by a Skyhook-Acceleration Driven Damping (SH-ADD) method. Simulation results show that the developed controller outperforms the passive case at both the rattle space, tire hop frequencies and the SH-ADD at tire hop frequency while showing a close performance to the SH-ADD at the rattle space frequency. Time domain simulation results confirmed that the control strategy satisfies the dissipative constraint.

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