Nonlinear trajectory tracking controller for wheeled mobile robots by using a flexible auxiliary law based on slipping and skidding variations

2019 ◽  
Vol 118 ◽  
pp. 231-250
Author(s):  
C.A. Peña Fernández ◽  
J.J.F. Cerqueira ◽  
A.M.N. Lima
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Wheeled Mobile Robots ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

A self-tuning trajectory tracking controller for wheeled mobile robots

2019 ◽  
Vol 46 (6) ◽  
pp. 828-838 ◽  
Author(s):  
Pouya Panahandeh ◽  
Khalil Alipour ◽  
Bahram Tarvirdizadeh ◽  
Alireza Hadi
Keyword(s):  
Neural Networks ◽  
Convergence Rate ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Suggested Method ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

Purpose Trajectory tracking is a common problem in the field of mobile robots which has attracted a lot of attention in the past two decades. Therefore, besides the search for new controllers to achieve a better performance, improvement and optimization of existing control rules are necessary. Trajectory tracking control laws usually contain constant gains which affect greatly the robot’s performance. Design/methodology/approach In this paper, a method based on neural networks is introduced to automatically upgrade the gains of a well-known trajectory tracking controller of wheeled mobile robots. The suggested method speeds up the convergence rate of the main controller. Findings Simulations and experiments are performed to assess the ability of the suggested scheme. The obtained results show the effectiveness of the proposed method. Originality/value In this paper, a method based on neural networks is introduced to automatically upgrade the gains of a well-known trajectory tracking controller of wheeled mobile robots. The suggested method speeds up the convergence rate of the main controller.

Trajectory Tracking Controller Design for Mobile Robots with Bounded Input

2013 ◽  
Vol 427-429 ◽  
pp. 1145-1149
Author(s):  
Juan Wang ◽  
Xiu Feng Zhang
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Control Law ◽  
Robust Tracking ◽  
Wheeled Mobile Robots ◽  
Tracking Controller ◽  
Actuator Constraints ◽  
Trajectory Tracking Controller ◽  
Bounded Input

In this paper, the robust trajectory tracking problem has been addressed for nonholonomic wheeled mobile robots with dynamic uncertainties, disturbance and actuator constraints. control theory, LMI theory and principle of MPC are utilized to design robust tracking controller. Simulation is performed to highlight the effectiveness of the proposed control law.

A trajectory tracking controller with dynamic gains for mobile robots

2011 ◽  
Author(s):  
Cassius Z. Resende ◽  
F. Espinosa ◽  
I. Bravo ◽  
Mario Sarcinelli-Filho ◽  
Teodiano F. Bastos-Filho
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2546-2565 ◽  
Author(s):  
Mario E. Serrano ◽  
Sebastián A. Godoy ◽  
Vicente A. Mut ◽  
Oscar A. Ortiz ◽  
Gustavo J. E. Scaglia
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Experimental Results ◽  
Tracking Errors ◽  
Simple Scheme ◽  
Trajectory Tracking Control ◽  
Control Actions ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

SUMMARYThis paper addresses the problem of trajectory tracking control in mobile robots under velocity limitations. Following the results reported in ref. [1], the problem of trajectory tracking considering control actions constraint is focused and the zero convergence of the tracking errors is demonstrated. In this work, the original methodology is expanded considering a controller that depends not only on the position but also on the velocity. A simple scheme is obtained, which can be easily implemented in others controllers of the literature. Experimental results are presented and discussed, demonstrating the good performance of the controller.

Sign in / Sign up

Export Citation Format

Share Document