Optimal trajectory generation and flatness tracking control for a mobile robot

2017 ◽  
Author(s):  
Amine Abadi ◽  
Hassen Mekki ◽  
Anis Ben Hadj Brahim ◽  
Adnen El Amraoui ◽  
Nacim Ramdani
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Optimal Trajectory ◽  
Trajectory Generation

Optimal trajectory generation and robust flatness–based tracking control of quadrotors

2019 ◽  
Vol 40 (4) ◽  
pp. 728-749 ◽  
Author(s):  
Amine Abadi ◽  
Adnen El Amraoui ◽  
Hassen Mekki ◽  
Nacim Ramdani
Keyword(s):  
Tracking Control ◽  
Optimal Trajectory ◽  
Trajectory Generation

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

scholarly journals A Hybrid Tracking Control Strategy for Nonholonomic Wheeled Mobile Robot Incorporating Deep Reinforcement Learning Approach

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 15592-15602
Author(s):  
Xueshan Gao ◽  
Rui Gao ◽  
Peng Liang ◽  
Qingfang Zhang ◽  
Rui Deng ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Mobile Robot ◽  
Control Strategy ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Learning Approach
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