scholarly journals An Adaptive Control Scheme for Nonholonomic Mobile Robot with Parametric Uncertainty

10.5772/5801 ◽  
2005 ◽  
Vol 2 (1) ◽  
pp. 8 ◽  
Author(s):  
F. Mnif ◽  
F. Touati
Keyword(s):  
Mobile Robot ◽  
Parametric Uncertainty ◽  
Lyapunov Stability Theory ◽  
Original System ◽  
Stability And Convergence ◽  
Nonholonomic Mobile Robot ◽  
Control Scheme ◽  
The Stability ◽  
Invariant Control ◽  
Time Invariant

This paper addresses the problem of stabilizing the dynamic model of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of a smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory.

scholarly journals Amplitude Modulation and Synchronization of Fractional-Order Memristor-Based Chua's Circuit

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
A. G. Radwan ◽  
K. Moaddy ◽  
I. Hashim
Keyword(s):  
Fractional Order ◽  
Amplitude Modulation ◽  
Lyapunov Stability Theory ◽  
Stability And Convergence ◽  
Chua’S Circuit ◽  
Nonlinear Controller ◽  
Chua's Circuit ◽  
Control Functions ◽  
Nonlinear Control Theory ◽  
The Stability

This paper presents a general synchronization technique and an amplitude modulation of chaotic generators. Conventional synchronization and antisynchronization are considered a very narrow subset from the proposed technique where the scale between the output response and the input response can be controlled via control functions and this scale may be either constant (positive, negative) or time dependent. The concept of the proposed technique is based on the nonlinear control theory and Lyapunov stability theory. The nonlinear controller is designed to ensure the stability and convergence of the proposed synchronization scheme. This technique is applied on the synchronization of two identical fractional-order Chua's circuit systems with memristor. Different examples are studied numerically with different system parameters, different orders, and with five alternative cases where the scaling functions are chosen to be positive/negative and constant/dynamic which covers all possible cases from conventional synchronization to the amplitude modulation cases to validate the proposed concept.

scholarly journals Numerical analysis of the stability of nonequilibrium 3D evolutionary transfer processes in the network

2021 ◽  
Vol 2094 (2) ◽  
pp. 022031
Author(s):  
V V Provotorov ◽  
A A Part ◽  
A V Shleenko ◽  
S M Sergeev
Keyword(s):  
Mathematical Model ◽  
Oil And Gas ◽  
Simulation Models ◽  
Original System ◽  
Time Variable ◽  
Stability And Convergence ◽  
Elliptic Type ◽  
Nonequilibrium Processes ◽  
The Stability ◽  
The Mathematical Model

Abstract Analytical methods for solving various problems of an applied nature (for example, non-stationary transfer problems over network hydro, gas and heat carriers), whose mathematical models use the formalisms of evolutionary differential systems, are possible with rare exceptions. That is why the construction of numerical and simulation models for the use of quantitative analysis methods becomes a universal research tool, if at the same time the implementation of these models on a computer is carried out – in other words, a complex of software engineering of the process under study is formed. The study uses the method of semidiscretization by a time variable of the mathematical model of the evolutionary non-equilibrium process of continuous medium transfer, which remains one of the most effective methods for analyzing applied problems. In this case, the elliptic operator of the mathematical model has a special basis (a system of eigenfunctions), which is why the analysis is reduced to the study of a boundary value problem for elliptic-type equations with a spatial variable changing on a network-like domain. The paper presents the conditions for unambiguous weak solvability of a differential-difference system, which is a difference analogue in the time variable of the original system, and the way of constructing an algorithm for finding an approximate solution is indicated. The study contains an analysis of the stability and convergence of difference schemes of evolutionary network-like nonequilibrium processes of continuous media transfer over network carriers and includes an analysis of the correctness of the mathematical model of this process. The results of the work are applicable in the framework of oil and gas engineering to the study of issues of stabilization and parametric optimization of the processes of transportation of liquid media through spatial networks.

scholarly journals Design of a robust tracking controller for a nonholonomic mobile robot based on sliding mode with adaptive gain

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142098708
Author(s):  
Ameni Azzabi ◽  
Khaled Nouri
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
External Disturbance ◽  
Salient Feature ◽  
Lyapunov Stability Theory ◽  
Stability And Convergence ◽  
Sliding Mode Controller ◽  
Tracking Errors ◽  
Adaptive Laws ◽  
The Stability

This article propounds addressing the design of a sliding mode controller with adaptive gains for trajectory tracking of unicycle mobile robots. The dynamics of this class of robots are strong, nonlinear, and subject to external disturbance. To compensate the effect of the unknown upper bounded external disturbances, a robust sliding mode controller based on an integral adaptive law is proposed. The salient feature of the developed controller resides in taking into account that the system is MIMO and the upper bound of disturbances is not priori known. Therefore, we relied on an estimation of each perturbation separately for each subsystem. Hence, the proposed controller provides a minimum acceptable errors and bounded adaptive laws with minimum of chattering problem. To complete the goal of the trajectory tracking, we apply a kinematic controller that takes into account the nonholonomic constraint of the robot. The stability and convergence properties of the proposed tracking dynamic and kinematic controllers are analytically proved using Lyapunov stability theory. Simulation results based on a comparative study show that the proposed controllers ensure better performances in terms of good robustness against disturbances, accuracy, minimum tracking errors, boundness of the adaptive gains, and minimum chattering effects.

PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2151-2161 ◽  
Author(s):  
E. Slawiñski ◽  
S. García ◽  
L. Salinas ◽  
V. Mut
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Force Feedback ◽  
Robot Motion ◽  
Time Varying ◽  
Control Parameters ◽  
Bilateral Teleoperation ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

SUMMARYThis paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.

scholarly journals A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments

Electronics ◽  
2019 ◽  
Vol 9 (1) ◽  
pp. 42
Author(s):  
Jianhua Li ◽  
Jianfeng Sun ◽  
Guolong Chen
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Trajectory Tracking ◽  
Practical Applications ◽  
Control Scheme ◽  
Avoidance Control ◽  
Constant Distance ◽  
Trajectory Tracking Controller ◽  
The Stability ◽  
Switch Strategy

The obstacle avoidance control of mobile robots has been widely investigated for numerous practical applications. In this study, a control scheme is presented to deal with the problem of trajectory tracking while considering obstacle avoidance. The control scheme is simplified into two controllers. First, an existing trajectory tracking controller is used to track. Next, to avoid the possible obstacles in the environment, an obstacle avoidance controller, which is used to determine the fastest collision avoidance direction to follow the boundary of the obstacle at a constant distance, is proposed based on vector relationships between the robot and an obstacle. Two controllers combined via a switch strategy are switched to perform the task of trajectory tracking or obstacle avoidance. The stability of each controller in the control scheme is guaranteed by a Lyapunov function. Finally, several simulations are conducted to evaluate the proposed control scheme. The simulation results indicate that the proposed scheme can be applied to the mobile robot to ensure its safe movement in unknown obstacle environments.

A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator

2011 ◽  
Vol 464 ◽  
pp. 217-220
Author(s):  
Yan Peng ◽  
Mei Liu ◽  
Qing Jiu Huang ◽  
Shao Rong Xie
Keyword(s):  
Mobile Robot ◽  
Dimensional Space ◽  
Control Law ◽  
Continuous Control ◽  
Time Varying ◽  
Higher Dimensional ◽  
Control Scheme ◽  
And Performance ◽  
Time Invariant ◽  
Double Integrator

The extended nonholonomic double integrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett’s condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system without drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying control law is designed for its stabilization. Besides the theoretical proofs, simulations conducted on the dynamics of a mobile robot are also presented to demonstrate the validity and performance of the proposed method.

scholarly journals Event-Triggered Formation Tracking Control for Unmanned Aerial Vehicles Subjected to Deception Attacks

Electronics ◽  
2021 ◽  
Vol 10 (22) ◽  
pp. 2736
Author(s):  
Biao Sun ◽  
Zhou Gu ◽  
Tianyi Xiong
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Lyapunov Stability Theory ◽  
Linear Matrix ◽  
Attack Model ◽  
Formation Tracking ◽  
Control Scheme ◽  
The Stability ◽  
Multi Uav ◽  
Event Triggered

This study investigates the time-varying formation tracking (TVFT) control problem for multiple unmanned aerial vehicle (multi-UAV) systems under deception attacks by utilizing an event-triggered mechanism (ETM). First, for the sake of alleviating the communication burden, an effective ETM is designed in this paper. Second, to deal with deception attacks in the communication network, a random deception attack model under the designed ETM is constructed. Finally, a novel formation tracking control scheme for multi-UAV systems under deception attack combining the ETM is proposed to achieve the expected TVFT. The stability analysis of the formation control system is given by using the Lyapunov stability theory and linear matrix inequality (LMI) technique. Simulations are conducted to verify the effectiveness of the proposed formation control scheme.

scholarly journals Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Sheng Liu ◽  
Changkui Xu ◽  
Lanyong Zhang
Keyword(s):  
Learning Strategy ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Lyapunov Stability Theory ◽  
Iterative Learning ◽  
Sampled Data ◽  
Lateral Dynamics ◽  
Control Scheme ◽  
System States ◽  
The Stability

This paper proposes a novel robust output feedback control methodology for the course keeping control of a fully submerged hydrofoil vessel. Based on a sampled-data iterative learning strategy, an iterative learning observer is established for the estimation of system states and the generalized disturbances. With the state observer, a feedback linearized iterative sliding mode controller is designed for the stabilization of the lateral dynamics of the fully submerged hydrofoil vessel. The stability of the overall closed-loop system is analyzed based on Lyapunov stability theory. Comparative simulation results verify the effectiveness of the proposed control scheme and show the dominance of the disturbance rejection performance.

scholarly journals Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Franco Penizzotto ◽  
Sebastian García ◽  
Emanuel Slawiñski ◽  
Vicente Mut
Keyword(s):  
Mobile Robot ◽  
System Architecture ◽  
Communication Channel ◽  
Force Feedback ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Wheeled Robots ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator’s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed.

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