Robust Adaptive Trajectory Control for an Omnidirectional Vehicle

2013 ◽  
Vol 284-287 ◽  
pp. 1919-1923
Author(s):  
Ya Chao Yang ◽  
Chi Cheng Cheng ◽  
Chin Yin Chen
Keyword(s):  
Sliding Mode ◽  
Trajectory Control ◽  
Robust Adaptive Control ◽  
Tracking Performance ◽  
Sliding Mode Controller ◽  
Vehicle System ◽  
Control Scheme ◽  
Asymptotic Tracking ◽  
Robust Adaptive ◽  
Adaptive Control Strategy

In this paper, a robust adaptive control strategy is proposed for trajectory control of an omnidirectional vehicle with three omni-wheels, which have the ability to move simultaneously with independently rotational motion. Actuators of the omnidirectional vehicle contain uncertainties and their parameters are unknown. By the Lyapunov stability, the asymptotic tracking performance can be assured. The proposed control scheme is demonstrated by actual tracking experiments using the omnidirectional vehicle system. Experimental results showed promising tracking performance for the proposed method as compared to traditional sliding mode controller.

ROBUST ADAPTIVE TRAJECTORY CONTROL FOR AN OMNIDIRECTIONAL VEHICLE WITH PARAMETRIC UNCERTAINTY

2013 ◽  
Vol 37 (3) ◽  
pp. 405-413 ◽  
Author(s):  
Ya-Chao Yang ◽  
Chi-Cheng Cheng
Keyword(s):  
Sliding Mode ◽  
Parametric Uncertainty ◽  
Adaptive Controller ◽  
Trajectory Control ◽  
Robust Adaptive Control ◽  
Tracking Performance ◽  
Damping Matrix ◽  
The Matrix ◽  
Asymptotic Tracking ◽  
Robust Adaptive

In this paper, a robust adaptive control strategy is proposed for trajectory control of an omnidirectional vehicle with three omni-wheels, which have the ability to move simultaneously with independently rotational motion. The omnidirectional vehicle experiences uncertainties and unknown system parameters. The robust adaptive controller is designed based on the symmetric property of the damping matrix, which allows the matrix can be split into two parts. By the Lyapunov stability, the asymptotic tracking performance can be assured. The proposed control scheme is demonstrated by actual tracking experiments using the omnidirectional vehicle system. Experimental results showed promising tracking performance for the proposed method as compared to traditional sliding mode controller.

Robust Adaptive Compensation for a Class of Nonlinear Systems

1998 ◽  
Vol 124 (1) ◽  
pp. 231-234 ◽  
Author(s):  
Hongliu Du ◽  
Satish S. Nair
Keyword(s):  
Nonlinear Systems ◽  
Adaptive Design ◽  
Sliding Mode ◽  
Design Method ◽  
Design Guidelines ◽  
Robust Adaptive Control ◽  
Control Law ◽  
Case System ◽  
Robust Adaptive ◽  
Adaptive Control Strategy

A robust adaptive design method is proposed for the on-line compensation of uncertainties, for a class of nonlinear systems. As an extension of previous work, the adaptive part of the control law uses a constructive Gaussian network without any prior training, and the control law provides robustness using a systematically designed sliding mode term. In the design, learning and control bounds are guaranteed by properly constructing the control architecture using the proposed methods. The robust adaptive control strategy, with the proposed design guidelines, has been validated using a hardware example case of a nonlinear robotic linkage system. Experiments have shown that the inclusion of the proposed stable learning and robust terms into the control design, using the proposed constructive methods, results in improved system performance for the example case system.

scholarly journals Parameter Adaptive Sliding Mode Trajectory Tracking Strategy with Initial Value Identification for the Swing in a Hydraulic Construction Robot

2022 ◽  
Author(s):  
Jingwei hou ◽  
Dingxuan Zhao ◽  
Zhuxin Zhang
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Estimation Algorithm ◽  
Robust Adaptive Control ◽  
Identification Algorithm ◽  
Initial Value ◽  
Robust Adaptive ◽  
Adaptive Control Strategy ◽  
The Moment ◽  
Tracking Strategy

Abstract A novel trajectory tracking strategy is developed for a double actuated swing in a hydraulic construction robot. Specifically, a nonlinear hydraulic dynamics model of a double actuated swing is established, and a robust adaptive control strategy is designed to enhance the trajectory tracking performance. When an object is grabbed and unloaded, the inertia of a swing considerably changes, and the performance of the estimation algorithm is generally inadequate. Thus, it is necessary to establish an algorithm to identify the initial value of the moment of inertia of the object. To this end, this paper proposes a novel initial value identification algorithm based on a two-DOF robot gravity force identification method combined with computer vision information. The performance of the identification algorithm is enhanced. Simulations and experiments are performed to verify the effect of the novel control scheme.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

CONTROLLING THE UNCERTAIN MULTI-SCROLL CRITICAL CHAOTIC SYSTEM WITH INPUT NONLINEAR USING SLIDING MODE CONTROL

2009 ◽  
Vol 23 (16) ◽  
pp. 2021-2034 ◽  
Author(s):  
XINGYUAN WANG ◽  
DA LIN ◽  
ZHANJIE WANG
Keyword(s):  
Chaotic System ◽  
Sliding Mode ◽  
Equilibrium Points ◽  
Dead Zone ◽  
Variable Structure ◽  
Sliding Mode Controller ◽  
Global Stabilization ◽  
Structure Control ◽  
Control Scheme ◽  
Simulation Results

In this paper, control of the uncertain multi-scroll critical chaotic system is studied. According to variable structure control theory, we design the sliding mode controller of the uncertain multi-scroll critical chaotic system, which contains sector nonlinearity and dead zone inputs. For an arbitrarily given equilibrium point of the uncertain multi-scroll chaotic system, we achieve global stabilization for the equilibrium points. Particularly, a class of proportional integral (PI) switching surface is introduced for determining the convergence rate. Furthermore, the proposed control scheme can be extended to complex multi-scroll networks. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

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