Path Tracking Control of Micro-Tracked Mobile Robot

2014 ◽  
Vol 644-650 ◽  
pp. 265-271 ◽  
Author(s):  
Jian Gao ◽  
Shi Long Zhang
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Tracking Error ◽  
Kinematic Model ◽  
Path Tracking ◽  
Positioning Accuracy ◽  
And Control ◽  
Tracked Mobile Robot ◽  
The Given ◽  
Motor Model

The positioning accuracy of tracked mobile robot is low because of sliding in steering process. Taking the micro-tracked mobile robot as the platform, the interface force between tracks and ground was analyzed, and the motor model, kinematic model and dynamic model were established further. A tracking error controller was built based on the tracking error equations, and the co-simulation of mechanical and control system was applied to predict the robot’s trajectory. That controller was applied on a small tracked mobile robot designed by the authors’ laboratory, and the path tracking experiments with and without obstacles had been done. The results show that the robot can accurately track the given path, whether there are obstacles or not.

Path tracking control of electromechanical micro-positioner by considering control effort of the system

2020 ◽  
pp. 095965182095327
Author(s):  
Mohammad Reza Gharib ◽  
Ali Koochi ◽  
Mojtaba Ghorbani
Keyword(s):  
Tracking Control ◽  
Tracking Error ◽  
Path Tracking ◽  
Lumped Parameter Model ◽  
Proportional Integral Derivative ◽  
Control Effort ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Micro Actuators ◽  
And Control

Position controlling with less overshoot and control effort is a fundamental issue in the design and application of micro-actuators such as micro-positioner. Also, tracking a considered path is very crucial for some particular applications of micro-actuators such as surgeon robots. Herein, a proportional–integral–derivative controller is designed using a feedback linearization technique for path tracking control of a cantilever electromechanical micro-positioner. The micro-positioner is simulated based on a 1-degree-of-freedom lumped-parameter model. Three different paths are considered, and the capability of the designed controller on the path tracking with lower error and control effort is investigated. The obtained results demonstrate the efficiency of the designed proportional–integral–derivative controller not only for reducing the tracking error but also for decreasing the control effort.

Path Tracking Control for a Wheeled Mobile Robot

2010 ◽  
Vol 29-32 ◽  
pp. 2076-2081 ◽  
Author(s):  
Yuan Liang Zhang
Keyword(s):  
Mobile Robot ◽  
Control Strategy ◽  
Tracking Control ◽  
Kinematic Model ◽  
Nonholonomic Constraints ◽  
Path Tracking ◽  
Wheeled Mobile Robot ◽  
Mac Method ◽  
Model Algorithm

In this paper a model algorithm control (MAC) method is proposed to do the path tracking control of a wheeled mobile robot (WMR). This mobile robot is a three-wheel differentially steered wheeled mobile robot subject to nonholonomic constraints. The kinematic model of this mobile robot is presented and used as the mobile robot model to be controlled. Simulations are conducted to show the performance and feasibility of the proposed control strategy for the path tracking of a wheeled mobile robot.

DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. AUTOMATION OF THE MONITORING AND CONTROL PROCESSES OF MOBILE ROBOT FOR PROCESSING OF LARGE INCLINED SURFACES

2019 ◽  
pp. 41-48
Author(s):  
Yan Guojun ◽  
Oleksiy Kozlov ◽  
Oleksandr Gerasin ◽  
Galyna Kondratenko
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Functional Structure ◽  
Monitoring And Control ◽  
Technological Parameters ◽  
Monitoring And Control System ◽  
Inclined Surfaces ◽  
Computerized Monitoring ◽  
And Control ◽  
Tracked Mobile Robot

The article renders the special features of the design of a tracked mobile robot (MR) for moving over inclined ferromagnetic surfaces while performing specified technological operations. There is conducted a synthesis of the functional structure and selective technological parameters (such as control coordinates) of the computerized monitoring and control system (CMCS) intended for use with this MR. Application of the CMCS with the proposed functional structure allows substantially increasing the accuracy of the MR monitoring and control, which in turn provides for a considerable enhancement in the quality and economic efficiency of the operations on processing of large ferromagnetic surfaces.

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