Backward Path Tracking of Mobile Robot with Two Trailers

With the social development and the continuous progress of science and technology, the mobile robots can greatly improve efficiency, reduce costs, many of these applications can be attributed to the backward path tracking control problem. A controller for backward path tracking of mobile robot with two trailers is addressed in this paper. The paper presents a new approach to stabilizing the system in backward motion by controlling the orientation angles of the two trailers. Nonlinear smooth control laws for orientations of the trailers with asymptotic stability in backward motion are then proposed. The result simulated in Simulink illustrates the effectiveness of the control law and the controller.

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Path-tracking controller design and implementation of a vision-based wheeled mobile robot

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1243/09596518jsce711 ◽

2009 ◽

Vol 223 (6) ◽

pp. 847-862 ◽

Cited By ~ 5

Author(s):

J-L Yang ◽

D-T Su ◽

Y-S Shiao ◽

K-Y Chang

Keyword(s):

Mobile Robot ◽

Tracking Control ◽

Intelligent System ◽

Vision System ◽

Dead Reckoning ◽

Path Tracking ◽

Wheeled Mobile Robot ◽

Detection Methods ◽

Control Laws ◽

The Dead

This paper presents techniques for building system configuration, control architecture, and implementation of a vision-based wheeled mobile robot (WMR). The completed WMR has been built with the dead-reckoning method so as to determine the vehicle's velocity and posture by the numerical differentiation/integration over short travelling. The developed proportional-integral-derivative (PID) controllers show good transient performances; that is, the velocity of right and left wheels can track the commands quickly and correctly. Moreover, the path-tracking control laws have also been executed within the digital signal processor (DSP)-based controller in the WMR. The image-recognized system can obtain motion information at 15 frames/s by using the hybrid intelligent system (HIS) model, which is one of the well-known colour detection methods. The better performance a vision system has, the more successful the control laws design. The WMR obtains its posture from the dead-reckoning device together with the vision system. These subsystems are integrated, and the operators of the whole system are completed. This WMR system can be thought of as a platform for testing various tracking control laws and a signal-filtering method. To solve the problem of position/orientation tracking control of the WMR, two kinematical optimal non-linear predictive control laws are developed to manipulate the vehicle to follow the desired trajectories asymptotically. A Kalman filter scheme is used to reduce the bad effect of the imagine nose; thereby the accuracy of pose estimation can be improved. The experimental system is composed of a wireless RS232 modem, a DSP-based controller for the WMR, and a vision system with a host computer. A computation-effective and high-performance DSP-based controller is constructed for executing the developed sophisticated path-tracking laws. Finally, the simulation and experimental results show the feasibility and effectiveness of the proposed control laws.

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Model Tracking Control of Hamiltonian Systems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.3153109 ◽

1989 ◽

Vol 111 (4) ◽

pp. 656-660 ◽

Cited By ~ 12

Author(s):

H. Flashner ◽

J. M. Skowronski

Keyword(s):

Tracking Control ◽

Cartesian Product ◽

Large Angle ◽

Control Law ◽

Simulation Studies ◽

Control Laws ◽

New Approach ◽

Finite Time Horizon ◽

Plant Simulation ◽

Two Degree Of Freedom

A new approach is presented for deriving control laws for dynamic systems that can be formulated by Hamilton’s canonical equations. The approach uses the complete nonlinear equations of the system without requiring linearization. It is shown that the error equations, between the system and a Hamiltonian model to be followed, can be described by Hamilton’s canonical equations. Using the concept of diagonal set in the cartesian product of the system and the model states, a control law is derived using the Liapunov stability approach. The resulting control law allows tracking within a stipulated precision, and also with a finite time horizon. To demonstrate the method, a control law is derived for a two degree of freedom manipulator, designed to follow a linear plant. Simulation studies show fast convergence of the state error for a large angle motion maneuver.

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