Trajectory Control Using Linear Control System on Mobile Robot

2011 ◽  
Vol 383-390 ◽  
pp. 1619-1622
Author(s):  
Kuei Ying Chang ◽  
Huai Jen Hsu ◽  
Pendry Alexandra ◽  
Min Fan Ricky Lee
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Experimental Validation ◽  
Kinematic Model ◽  
Initial Position ◽  
Wheeled Mobile Robot ◽  
Linear Control ◽  
Control Law ◽  
Simulation Results ◽  
Robot Platform

A lot of studies have been conducted and published on how to control the wheeled mobile robot to reach the desired target smoothly and many simulation results have been presented. However, very few of the control theorems have been applied on a real mobile robot platform to test the feasibility. This paper focuses on the experimental validation by applying the kinematic model and the control law suggested by Siegwart et al [6] on a nonholonomic wheeled mobile robot. The omni-directional camera mounted on ceiling is used to capture the initial position of robot and monitor the trajectory. Our experiment results proved with the proposed control law, the mobile robot can reach the final goal and stop.

scholarly journals DESIGNING A ROBUST ADAPTIVE TRACKING BACKTEPPING CONTROLLER CONSIDERING ACTUATOR SATURATION FOR A WHEELED MOBILE ROBOT TO COMPENSATE UNKNOWN SLIPPAGE

2020 ◽  
Vol 36 (2) ◽  
pp. 187-204
Author(s):  
Chung Le ◽  
Kiem Nguyen Tien ◽  
Linh Nguyen ◽  
Tinh Nguyen ◽  
Tung Hoang
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Basis Function ◽  
Actuator Saturation ◽  
Wheeled Mobile Robot ◽  
Technical Solution ◽  
Control Approach ◽  
Adaptive Tracking ◽  
Simulation Results ◽  
Robust Adaptive

This article highlights a robust adaptive tracking backstepping control approach for a nonholonomic wheeled mobile robot (WMR) by which the bad problems of both unknown slippage and uncertainties are dealt with. The radial basis function neural network (RBFNN) in this proposed controller assists unknown smooth nonlinear dynamic functions to be approximated. Furthermore, a technical solution is also carried out to avoid actuator saturation. The validity and efficiency of this novel controller, finally, are illustrated via comparative simulation results.

Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

2008 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Differential Flatness ◽  
Robust Controllers ◽  
Robust Controller ◽  
Planning And Control ◽  
Tracking Controllers ◽  
Simulation Results ◽  
And Control

In this paper, we present two robust trajectory-tracking controllers for a differentially driven two-wheeled mobile robot using its kinematic and dynamic model in the presence of slip. The structure of the differential flatness-based controller, which is an integrated framework for planning and control, is extended in this paper to account for slip disturbances by adding a corrective control term. Simulation results for both kinematic and dynamic controllers are presented to demonstrate the effectiveness of the robust controllers. Experiments with the kinematic controller were conducted to validate the performance of the robust controller. The simulation and experimental results show that the robust controllers are very effective in the presence of slip.

scholarly journals Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Fujie Wang ◽  
Yi Qin ◽  
Fang Guo ◽  
Bin Ren ◽  
John T. W. Yeow
Keyword(s):  
Mobile Robot ◽  
Visual Servoing ◽  
Dynamic Control ◽  
Kinematic Model ◽  
Image Plane ◽  
Adaptive Controller ◽  
Wheeled Mobile Robot ◽  
General Situation ◽  
Model Parameters ◽  
Complex Environment

This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control.

Integrated Aircraft Modeling Research for Accurate Flight Control System Design

2013 ◽  
Vol 791-793 ◽  
pp. 658-662
Author(s):  
Chao Zhang ◽  
Yi Nan Liu ◽  
Jian Hui Xu
Keyword(s):  
Control System ◽  
System Design ◽  
Flight Control ◽  
Time Delays ◽  
Flight Dynamics ◽  
Control System Design ◽  
Control Law ◽  
Flight Control System ◽  
Aircraft Model ◽  
Simulation Results

In order to realize accurate flight control system design and simulation, an integrated scheme of aircraft model which consists of flight dynamics, fly-by-wire (FBW) platform and flight environment is proposed. Flight environment includes gravity, wind, and atmosphere. And the actuator and sensors such as gyroscope and accelerometer models are considered in the FBW platform. All parts of the integrated model are closely connected and interacted with each other. Simulation results confirm the effectiveness of the integrated aircraft model and also indicate that the (Flight Control Law) FCL must be designed with robustness to sensor noise and time delays with the FBW platform in addition to the required robustness to model uncertainty in flight dynamics.

scholarly journals Robust ℋ∞-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3673 ◽  
Author(s):  
Nur Ahmad
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Tracking Performance ◽  
Model Parameters ◽  
Control Law ◽  
System Modelling ◽  
Nonlinear Perturbations ◽  
Model Errors ◽  
Dc Motors

Motion control involving DC motors requires a closed-loop system with a suitable compensator if tracking performance with high precision is desired. In the case where structural model errors of the motors are more dominating than the effects from noise disturbances, accurate system modelling will be a considerable aid in synthesizing the compensator. The focus of this paper is on enhancing the tracking performance of a wheeled mobile robot (WMR), which is driven by two DC motors that are subject to model parametric uncertainties and uncertain deadzones. For the system at hand, the uncertain nonlinear perturbations are greatly induced by the time-varying power supply, followed by behaviour of motion and speed. In this work, the system is firstly modelled, where correlations between the model parameters and different input datasets as well as voltage supply are obtained via polynomial regressions. A robust H ∞ -fuzzy logic approach is then proposed to treat the issues due to the aforementioned perturbations. Via the proposed strategy, the H ∞ controller and the fuzzy logic (FL) compensator work in tandem to ensure the control law is robust against the model uncertainties. The proposed technique was validated via several real-time experiments, which showed that the speed and path tracking performance can be considerably enhanced when compared with the results via the H ∞ controller alone, and the H ∞ with the FL compensator, but without the presence of the robust control law.

scholarly journals Adaptive Fuzzy Integral Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robot

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Shuying Peng ◽  
Wuxi Shi
Keyword(s):  
Mobile Robot ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Small Neighborhood ◽  
Wheeled Mobile Robot ◽  
Fuzzy Integral ◽  
Control Input ◽  
Parameter Uncertainties ◽  
Terminal Sliding Mode ◽  
Adaptive Fuzzy

In this paper, the trajectory tracking problem is investigated for a nonholonomic wheeled mobile robot with parameter uncertainties and external disturbances. In this strategy, combining the kinematic model with the dynamic model, the actuator voltage is employed as the control input, and the uncertainties are approximated by a fuzzy logic system. An auxiliary velocity controller is integrated with an adaptive fuzzy integral terminal sliding mode controller, and a robust controller is employed to compensate for the lumped errors. It is proved that all the signals in the closed system are bounded and the auxiliary velocity tracking errors can converge to a small neighborhood of the origin in finite time. As a result, the tracking position errors converge asymptotically to zeros with faster response than other existing controllers. Simulation results demonstrate the effectiveness of the proposed strategy.

Adaptive trajectory tracking control of a differential drive wheeled mobile robot

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 391-402 ◽  
Author(s):  
Khoshnam Shojaei ◽  
Alireza Mohammad Shahri ◽  
Ahmadreza Tarakameh ◽  
Behzad Tabibian
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Feedback Linearization ◽  
Dynamic Models ◽  
Parametric Uncertainty ◽  
Adaptive Controller ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics ◽  
Simulation Results

SUMMARYThis paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

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