LQR Control Methods for Trajectory Execution in Omnidirectional Mobile Robots

In order to accommodate the actuator failure, the finite-time stable nonsmooth control method with RBF neural network is used to suppress the structural vibration. The traditional designed control methods neglect influence of actuator failure in structural vibration. By Lyapunov stable theory, the designed control method is demonstrated to suppress the building structural vibration with actuator failure. Finally, there are some examples to numerically simulate the three-layer building structure which is affected by El Centro seismic wave. Control effect of nonsmooth control is compared with no control and LQR control. The simulation results demonstrate that the designed control method is great for vibration of building structure with actuator failure and great antiseismic effect.

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Design and Control of a Variable Geometry Hybrid Wheel-Leg

Volume 4: Dynamics, Vibration, and Control ◽

10.1115/imece2019-10189 ◽

2019 ◽

Author(s):

Jonivan Artates ◽

Behnam Bahr

Keyword(s):

Mobile Robots ◽

Legged Robots ◽

Smooth Surfaces ◽

Variable Geometry ◽

Control Methods ◽

Rugged Terrain ◽

Instantaneous Switching ◽

Rolling Mode ◽

And Control ◽

Two Degree Of Freedom

Abstract Conventional wheeled platforms provide sufficient locomotion on smooth surfaces but are limited when contending with obstacles such as stairs, steep inclines, or rugged terrain. Legged robots, which are better suited in traversing such obstacles, require an increased number of actuators, and thereby expend more energy. This paper describes the Adaptive Wheel-Leg, AWL, that provides mobile robots with the benefits of both wheels and legs. AWL is a two degree-of-freedom, hybrid wheel-leg topology with instantaneous switching between modes. AWL provides two modes: 1) a single actuator rolling mode for smooth surfaces, and 2) a walking mode for rugged terrain. This paper presents the mechanism’s design and control methods. An experimental model and a simulation of an AWL equipped hexapod are also discussed.

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Visual servoing with LQR control for mobile robots

IEEE ICCA 2010 ◽

10.1109/icca.2010.5524062 ◽

2010 ◽

Cited By ~ 1

Author(s):

Haoxiang Lang ◽

Ying Wang ◽

Clarence W de Silva

Keyword(s):

Mobile Robots ◽

Visual Servoing ◽

Lqr Control

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DYNAMIC ANALYSIS OF A QUADCOPTER USING PID, ADAPTIVE and LQR CONTROL METHODS

International Journal of Innovative Engineering Applications ◽

10.46460/ijiea.929552 ◽

2021 ◽

Author(s):

Ayhan ALTINÖRS ◽

Funda KUZU

Keyword(s):

Dynamic Analysis ◽

Control Methods ◽

Lqr Control

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An Overview on the Design of Mobile Robots with Hybrid Locomotion

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.837.555 ◽

2013 ◽

Vol 837 ◽

pp. 555-560 ◽

Cited By ~ 5

Author(s):

Alina Conduraru (Slătineanu) ◽

Ioan Doroftei ◽

Ionel Conduraru

Keyword(s):

Energy Consumption ◽

Mobile Robots ◽

Low Energy ◽

Rough Terrain ◽

Control Methods ◽

Low Energy Consumption ◽

Hybrid Locomotion ◽

And Control ◽

Design Simplicity ◽

Leg Mechanisms

In recent decades a considerable number of mobile robots with different locomotion systems have been developed. This paper is an overview on the designs of mobile robots with hybrid locomotion. Some solutions of hybrid locomotion mechanisms and control methods are presented. Most of the robots included in this category are using wheel-leg mechanisms as locomotion systems. In this way, the efficiency of the leg for moving in rough terrain is combined with the design simplicity and the low energy consumption of the wheel, when the robot is moving on structured environment.

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