An Adaptive Nonlinear Trajectory Tracking Design for Mobile Robots and it’s Practical Implementation

2013 ◽  
Vol 284-287 ◽  
pp. 1744-1748
Author(s):  
Yung Hsiang Chen ◽  
Tzuu Hseng S. Li ◽  
Yung Yue Chen
Keyword(s):  
Mobile Robot ◽  
Closed Form ◽  
Trajectory Tracking ◽  
Tracking System ◽  
Closed Form Solution ◽  
Form Solution ◽  
Practical Implementation ◽  
Time Varying ◽  
Nonlinear Controller ◽  
Reference Trajectories

An adaptive nonlinear trajectory tracking design for mobile robot and its practical implementation are presented in this paper. The design objective is to specify one nonlinear controller with a parameter adaptive law that satisfies the adaptive H2 optimal performance. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory-tracking problem. Fortunately, based on the property of the trajectory tracking system of the nonholonomic mobile robot, the adaptive H2 trajectory tracking problems can be reduced to solving one nonlinear time varying Riccati-like equations. Furthermore, one closed-form solution to this nonlinear time varying Riccati-like equation can be obtained with very simple forms for the preceding control design. Finally, there are two practical testing conditions: circular and S type reference trajectories are used for performance verification.

A PRACTICAL TRAJECTORY TRACKING APPROACH FOR AUTONOMOUS MOBILE ROBOTS: NONLINEAR ADAPTIVE H2 DESIGN

2013 ◽  
Vol 37 (3) ◽  
pp. 385-394 ◽  
Author(s):  
Yung Hsiang Chen ◽  
Tzuu Hseng S. Li ◽  
Yung Yue Chen
Keyword(s):  
Mobile Robot ◽  
Closed Form ◽  
Trajectory Tracking ◽  
Tracking Error ◽  
Closed Form Solution ◽  
Form Solution ◽  
Practical Implementation ◽  
Autonomous Mobile Robot ◽  
Nonlinear Controller ◽  
Trajectory Tracking Control

A nonlinear adaptive trajectory tracking design for autonomous mobile robot and its practical implementation are presented in this paper. This approach can be applied to generate trajectory tracking control commands for autonomous mobile robot tracking predefined trajectories. The design objective is to specify one nonlinear controller with a parameter adaptive law that satisfies the adaptive H2 optimal performance. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory tracking problem. Fortunately, based on the property of the trajectory tracking error dynamic system of the autonomous mobile robot, one closed-form solution to this problem can be obtained with a very simple form for the preceding control design.

scholarly journals Control Design of a Swarm of Intelligent Robots: A Closed-Form H2 Nonlinear Control Approach

2020 ◽  
Vol 10 (3) ◽  
pp. 1055
Author(s):  
Yung-Hsiang Chen ◽  
Shi-Jer Lou
Keyword(s):  
Nonlinear Control ◽  
Closed Form ◽  
Trajectory Tracking ◽  
Control Method ◽  
Tracking Error ◽  
Closed Form Solution ◽  
Form Solution ◽  
Practical Implementation ◽  
Time Varying ◽  
Tracking Problem

A closed-form H2 approach of a nonlinear trajectory tracking design and practical implementation of a swarm of wheeled mobile robots (WMRs) is presented in this paper. For the nonlinear trajectory tracking problem of a swarm of WMRs, the design purpose is to point out a closed-form H2 nonlinear control method that analytically fulfills the H2 control performance index. The key and primary contribution of this research is a closed-form solution with a simple control structure for the trajectory tracking design of a swarm of WMRs is an absolute achievement and practical implementation. Generally, it is challenging to solve and find out the closed-form solution for this nonlinear trajectory tracking problem of a swarm of WMRs. Fortunately, through a sequence of mathematical operations for the trajectory tracking error dynamics between the control of a swarm of WMRs and desired trajectories, this H2 trajectory tracking problem is equal to solve the nonlinear time-varying Riccati-like equation. Additionally, the closed-form solution of this nonlinear time-varying Riccati-like equation will be acquired with a straightforward form. Finally, for simulation-controlled performance of this H2 proposed method, two testing scenarios, circular and S type reference trajectories, were applied to performance verification.

Registration of a hybrid robot using the Degradation-Kronecker method and a purely nonlinear method

Robotica ◽  
2015 ◽  
Vol 34 (12) ◽  
pp. 2729-2740 ◽  
Author(s):  
S. J. Yan ◽  
S. K. Ong ◽  
A. Y. C. Nee
Keyword(s):  
Closed Form ◽  
Real Time ◽  
Good Accuracy ◽  
Tracking System ◽  
Closed Form Solution ◽  
Form Solution ◽  
Fast Computation ◽  
Nonlinear Method ◽  
Simulation And Experiment ◽  
Limited Accuracy

SUMMARYAlthough the registration of a robot is crucial in order to identify its pose with respect to a tracking system, there is no reported solution to address this issue for a hybrid robot. Different from classical registration, the registration of a hybrid robot requires the need to solve an equation with three unknowns where two of these unknowns are coupled together. This property makes it difficult to obtain a closed-form solution. This paper is a first attempt to solve the registration of a hybrid robot. The Degradation-Kronecker (D-K) method is proposed as an optimal closed-form solution for the registration of a hybrid robot in this paper. Since closed-form methods generally suffer from limited accuracy, a purely nonlinear (PN) method is proposed to complement the D-K method. With simulation and experiment results, it has been found that both methods are robust. The PN method is more accurate but slower as compared to the D-K method. The fast computation property of the D-K method makes it appropriate to be applied in real-time circumstances, while the PN method is suitable to be applied where good accuracy is preferred.

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