Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
Alberto Luviano-Juárez ◽  
John Cortés-Romero ◽  
Hebertt Sira-Ramírez
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Kinematic Model ◽  
Output Feedback Control ◽  
Experimental Tests ◽  
Tracking Task ◽  
Reference Trajectory ◽  
Trajectory Tracking Control ◽  
Control Scheme

In this article, a multivariable control design scheme is proposed for the reference trajectory tracking task in a kinematic model of a mobile robot. The control scheme leads to time-varying linear controllers accomplishing the reference trajectory tracking task. The proposed controller design is crucially based on the flatness property of the system leading to controlling an asymptotically decoupled set of chains of integrators by means of a linear output feedback control scheme. The feedforward linearizing control scheme is invoked and complemented with the, so called, generalized proportional integral (GPI) control scheme. Numerical simulations, as well as laboratory experimental tests, are presented for the assessment of the proposed design methodology.

scholarly journals Backstepping Based Trajectory Tracking Control of a Four Wheeled Mobile Robot

10.5772/6224 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 38 ◽  
Author(s):  
Umesh Kumar ◽  
Nagarajan Sukavanam
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Kinematic Equation ◽  
Pure Rolling ◽  
Tracking Strategy

For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time–indexed path in the plane consisting of position and orientation. The mobile robot is modeled as a non holonomic system subject to pure rolling, no slip constraints. To facilitate the controller design the kinematic equation can be converted into chained form using some change of co-ordinates. From the kinematic model of the robot a backstepping based tracking controller is derived. Simulation results demonstrate such trajectory tracking strategy for the kinematics indeed gives rise to an effective methodology to follow the desired trajectory asymptotically.

scholarly journals Multi-robot Cooperation Strategy Based on Wireless Sensor Network

2018 ◽  
Vol 14 (11) ◽  
pp. 77
Author(s):  
Bo Sun ◽  
Jingwei Li ◽  
Guanci Yang
Keyword(s):  
Wireless Sensor Network ◽  
Mobile Robot ◽  
Sensor Network ◽  
Trajectory Tracking ◽  
Cooperative Control ◽  
Controller Design ◽  
Kinematic Model ◽  
Wireless Sensor ◽  
Trajectory Tracking Control ◽  
Multi Robot

<p class="0abstract"><span lang="EN-US">To realize the design of multi-robot cooperative control based on wireless sensor networks, a large number of local control research experiments are carried out on a specific model of mobile robots. Combined with the kinematic model of mobile robot, the motion characteristics of this kind of mobile robot are grasped. On the basis of realizing the multi-target tracking and positioning of wireless sensor network, a multi mobile robot cooperative control system based on the feedback of wireless sensor network is developed, and the synchronous motion between the master and the robot is maintained through the feedback control of the network. Finally, a cooperative trajectory tracking control algorithm for mobile robot is introduced, and the principle of the controller design is mastered. A multi mobile robot cooperative trajectory tracking LQG controller is designed for mobile robot in wireless sensor network. The simulation results show that the algorithm can reach the cooperative control target.</span></p>

scholarly journals Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 222
Author(s):  
Xiaoshan Gao ◽  
Liang Yan ◽  
Chris Gerada
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Dynamic Models ◽  
Nonholonomic Constraints ◽  
Disturbance Attenuation ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme

Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This paper investigates the trajectory tracking control problem of WMRs via disturbance rejection in the presence of wheel skidding and slipping phenomena. The kinematic and dynamic models with the perturbed nonholonomic constraints are established. The trajectory tracking control scheme at the dynamic level is designed so that the mobile robot system can track the virtual velocity asymptotically, and counteract the perturbation caused by the unknown skidding and slipping of wheels. Both simulation and experimental works are conducted, and the results prove the performance of the proposed control scheme is effective in terms of tracking precision and disturbance attenuation.

Visual Servo Control for Wheeled Robot Trajectory Tracking

2011 ◽  
Vol 346 ◽  
pp. 650-656
Author(s):  
Guang Yan Xu ◽  
Xiao Yan Jia ◽  
Hong Shi ◽  
Jian Guo Cui
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Variable Structure ◽  
Visual Servo ◽  
Trajectory Tracking Control ◽  
Structure Control ◽  
Robot Trajectory ◽  
Sliding Mode Variable Structure

In this paper, we discussed the trajectory tracking control problem of the kinematic model of wheel mobile robot. Designed an asymptotic stability tracking controller, using visual servo method based on inverse system and sliding mode variable structure control, and proposed a method to measure motion state of a target mobile robot. Simulation results show this method is feasible.

A Novel Trajectory Tracking Control Method for a Nonholonomic Mobile Robot with System Uncertainties and Disturbances

2013 ◽  
Vol 823 ◽  
pp. 193-198
Author(s):  
Run Zhou Zhao ◽  
Xi Zheng Zhang ◽  
Cai Hong Shi ◽  
Wei Chen
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Hybrid Control ◽  
Kinematic Model ◽  
Network Dynamic ◽  
Trajectory Tracking Control ◽  
Dynamic Controller ◽  
Control Scheme ◽  
System Uncertainties ◽  
The Stability

This paper focuses on the trajectory tracking problem of mobile robots with system uncertainties and disturbances. With the integration of a kinematic controller and a dynamic controller, a hybrid control method is presented. Firstly, an adaptive kinematic controller is proposed through the kinematic model and backstepping method. Secondly, a neural network dynamic controller is proposed, with the consideration of system uncertainties and disturbances. The stability of the proposed control scheme is verified via the Lyapunov method and Barbalat lemma. Finally, results of circular trajectory simulation have illustrated the effectiveness of the present control scheme.

scholarly journals Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control

2019 ◽  
Vol 24 (4) ◽  
Author(s):  
Yong Zhang ◽  
Zengqiang Chen ◽  
Mingwei Sun ◽  
Xinghui Zhang
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Sliding Mode ◽  
Reference Trajectory ◽  
Active Disturbance Rejection Control ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme

This paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator (TD), then the design processes of the controller can be simplified. Secondly, the estimated values of the UAV's velocities, angular velocities, total disturbance can be acquired by using extended state observer (ESO), and the total disturbance of the system can be compensated in the controller in real time, then the robustness and anti-interference capability of the system can be improved. Finally, the sliding mode controller based on TD and ESO is designed, the stability of the closed-loop system is proved by Lyapunov method. Simulation results show that the control scheme proposed in this paper can make the quadrotor track the desired trajectory quickly and accurately.

Dexterous Trajectory Tracking Control of a Mobile Robot

2003 ◽  
Author(s):  
Zheng Zhang ◽  
Meng Ji ◽  
Nilanjan Sarkar
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Tracking Control ◽  
Hybrid Control ◽  
Control Technique ◽  
Reference Trajectory ◽  
Trajectory Tracking Control ◽  
Navigation Strategy ◽  
Control Framework

A departure from the traditional trajectory tracking control technique of a mobile robot is presented here in order to accommodate sudden changes in the reference trajectory. It is expected that in a dynamic, uncretain environment the robot may need to make sudden changes in its navigation strategy that may necessitate such an approach. In this work, a hybrid control framework is developed that first determines a suitable control strategy for a particular subtask and then implements it by means of choosing the specific controller. A supervisor is used to determine the suitable control strategy. The swiching stability among a set of trajectory tracking controllers is analyzed. Extensive simulation results demonstrate the efficacy of the proposed control technique.

scholarly journals Improved Model Predictive-Based Underwater Trajectory Tracking Control for the Biomimetic Spherical Robot under Constraints

2020 ◽  
Vol 10 (22) ◽  
pp. 8106
Author(s):  
Xihuan Hou ◽  
Shuxiang Guo ◽  
Liwei Shi ◽  
Huiming Xing ◽  
He Yin ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Models ◽  
Controller Design ◽  
State Space Model ◽  
Reference Trajectory ◽  
Control Input ◽  
Backstepping Method ◽  
Spherical Robot ◽  
Trajectory Tracking Control ◽  
Improved Model

To improve the autonomy of the biomimetic sphere robot (BSR), an underwater trajectory tracking problem was studied. Considering the thrusters saturation of the BSR, an improved model predictive control (MPC) algorithm that features processing multiple constraints was designed. With the proposed algorithm, the kinematic and dynamic models of the BSR are combined in order to establish the predictive model, and a new state-space model is designed that is based on an increment of the control input. Furthermore, to avoid the infeasibility of the cost function in the MPC controller design, a new term with a slack variable is added to the objective function, which enables the constraints to be imposed as soft constraints. The simulation results illustrate that the BSR was able to track the desired trajectory accurately and stably while using the improved MPC algorithm. Furthermore, a comparison with the traditional MPC shows that the designed MPC-based increment of the control input is small. In addition, a comparative simulation using the backstepping method verifies the effectiveness of the proposed method. Unlike previous studies that only focused on the simulation validations, in this study a series of experiments were carried out that further demonstrate the effectiveness of the improved MPC for underwater trajectory tracking of the BSR. The experimental results illustrate that the improved MPC is able to drive the BSR to quickly track the reference trajectory. When compared with a traditional MPC and the backstepping method used in the experiment, the proposed MPC-based trajectory is closer to the reference trajectory.

Motion modeling of a non-holonomic wheeled mobile robot based on trajectory tracking control

2020 ◽  
Vol 44 (2) ◽  
pp. 228-233
Author(s):  
Xuefeng Han ◽  
Mingda Ge ◽  
Jicheng Cui ◽  
Hao Wang ◽  
Wei Zhuang
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Proportional Integral Derivative ◽  
Trajectory Tracking Control ◽  
Proportional Integral

Trajectory tracking is a problem of emphasis for the mobile robot. In this study, a coordinate transformation method was used to build a kinematic model of the wheeled mobile robot. A traditional proportional-integral-derivative control method was researched and improved by combining it with a neural network. A neural network proportional-integral-derivative trajectory tracking control method was thus designed, and a simulation experiment was performed using Simulink. The results show that in circular trajectory tracking control, the maximum errors of the X axis, Y axis, and θ were approximately 2.1 m, 2.3 m, and 0.4 rad, respectively, and that the system remained stable after running for 10 s. In straight-line trajectory tracking control, the maximum errors of the X axis, Y axis, and θ were approximately −0.8 m, 1.3 m, and 0.3 rad, respectively, and the system remained stable after running for 8 s. The error was relatively small, and the effect of trajectory tracking control was good. The studied method had good performance in terms of wheeled mobile robot trajectory tracking control and is worthy of further promotion and application.

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.

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