Discrete-time sliding mode path-tracking control for a wheeled mobile robot

2006 ◽  
Author(s):  
P. A. Nino-Suarez ◽  
E. Aranda-Bricaire ◽  
M. Velasco-Villa
Keyword(s):  
Mobile Robot ◽  
Discrete Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Path Tracking ◽  
Wheeled Mobile Robot

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

2009 ◽  
Vol 223 (6) ◽  
pp. 847-862 ◽  
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.

scholarly journals Attack-Resilient Observer Pruning for Path-Tracking Control of Wheeled Mobile Robot

2020 ◽  
Author(s):  
Yu Zheng ◽  
Olugbenga Moses Anubi
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Path Tracking ◽  
Wheeled Mobile Robot ◽  
Target System ◽  
Research Attention ◽  
Pruning Algorithm ◽  
Injection Attacks ◽  
Feedback Control Systems ◽  
Iot Devices

Abstract Path-tracking control of wheeled mobile robot (WMR) has gained a lot of research attention, primarily because of its wide applicability — for example intelligent wheelchairs, exploration-assistant remote WMR. Recent increase in remote and autonomous operations/requirements for WMR has led to more and more use of IoT devices within the control loop. Consequently, providing interfaces for malicious interactions through false data injection attacks (FDIA). Moreover, optimization-based FDIAs have been shown to cause catastrophic consequences in feedback control systems while by-passing any residual-based monitoring system. Since these attacks target system measurement process, this paper focuses on the problem of improving the resiliency of dynamical observers against FDIA. Specifically, we propose an attack-resilient pruning algorithm which attempts to exclude compromised channels from being processed by the observer. The proposed pruning algorithm improves attack-localization precision to 100% with high probability, which correspondingly improves the resiliency of the underlying UKF to FDIA. The improvements due to the developed resilient pruning-based observer is validated through a numerical simulation of a two-layer path-tracking control platform of differential-driven wheeled mobile robot (DDWMR) under FDIA.

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