Trajectory Control and Sensitivity Analysis of Curiosity Rover on Uneven Terrains

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Shiva Tashakori ◽  
Saleh Kasiri Bidhendi ◽  
Behrooz Mashadi ◽  
Javad Marzbanrad
Keyword(s):  
Sliding Mode ◽  
Path Following ◽  
Inverse Kinematic ◽  
Uneven Surface ◽  
Software Environment ◽  
Lunar Rover ◽  
Battery Energy ◽  
Lateral Error ◽  
Yaw Angle ◽  
Curiosity Rover

In this paper, the six-wheel lunar rover is simulated in Adams/View software environment and then via co-simulation between adams and matlab/simulink with which a path-following controller is designed and implemented on the rocker-bogie mechanism. The proposed algorithm consists of three parts. First, the inverse kinematic equations are used to transform the trajectory into appropriate desired values. Second, a sliding mode controller (SMC) is designed which used the desired values to control the motion of the robot. Moreover, disturbances are taken into consideration to minimize the lateral error. In order to investigate the proposed integrated algorithm, the analysis of rover traversability on the uneven surface of the moon is performed in two different states, namely by considering the motion restrictions of the rocker-bogie mechanisms and by increasing the rover speed, body yaw angle, and also obstacle height in crossing the rough terrain. Investigation of the rover in different states has given insight on the performance of the proposed controller at limits of mobility of the robot. Finally, to reduce the battery energy consumption, input torques proportional to the load on the wheels are produced. The values of the deviations from the desired path and velocity in all the mentioned analyses indicate the effectiveness of the SMC.

scholarly journals Compliant Human–Robot Collaboration with Accurate Path-Tracking Ability for a Robot Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 5914
Author(s):  
Daniel Reyes-Uquillas ◽  
Tesheng Hsiao
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Path Following ◽  
Path Tracking ◽  
Control Loop ◽  
Loop Control ◽  
Tracking Ability ◽  
The Difference ◽  
Human Robot Collaboration

In this article, we aim to achieve manual guidance of a robot manipulator to perform tasks that require strict path following and would benefit from collaboration with a human to guide the motion. The robot can be used as a tool to increase the accuracy of a human operator while remaining compliant with the human instructions. We propose a dual-loop control structure where the outer admittance control loop allows the robot to be compliant along a path considering the projection of the external force to the tangential-normal-binormal (TNB) frame associated with the path. The inner motion control loop is designed based on a modified sliding mode control (SMC) law. We evaluate the system behavior to forces applied from different directions to the end-effector of a 6-DOF industrial robot in a linear motion test. Next, a second test using a 3D path as a tracking task is conducted, where we specify three interaction types: free motion (FM), force-applied motion (FAM), and combined motion with virtual forces (CVF). Results show that the difference of root mean square error (RMSE) among the cases is less than 0.1 mm, which proves the feasibility of applying this method for various path-tracking applications in compliant human–robot collaboration.

scholarly journals Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7454
Author(s):  
Yunsheng Fan ◽  
Bowen Liu ◽  
Guofeng Wang ◽  
Dongdong Mu
Keyword(s):  
Actuator Saturation ◽  
Sliding Mode ◽  
Path Following ◽  
Design Parameters ◽  
Real Time Control ◽  
Sideslip Angle ◽  
Terminal Sliding Mode ◽  
Unmanned Surface Vehicle ◽  
Control Approach ◽  
Unknown Disturbances

This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach.

scholarly journals Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter

2012 ◽  
Vol 22 (3) ◽  
pp. 315-342 ◽  
Author(s):  
Samir Zeghlache ◽  
Djamel Saigaa ◽  
Kamel Kara ◽  
Abdelghani Harrag ◽  
Abderrahmen Bouguerra
Keyword(s):  
Fuzzy Logic ◽  
Control Method ◽  
Sliding Mode ◽  
Design Method ◽  
Stability And Convergence ◽  
Sliding Mode Controller ◽  
Quadrotor Helicopter ◽  
Nonlinear Control Method ◽  
The Stability ◽  
Yaw Angle

Abstract In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based. Mathematical development for the stability and convergence of the system is presented. The main purpose is to eliminate the chattering phenomenon. Thus we have used a fuzzy logic control to generate the hitting control signal. The performances of the nonlinear control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in vertical flights.

A novel adaptive second order sliding mode path following control for a portable AUV

2018 ◽  
Vol 151 ◽  
pp. 82-92 ◽  
Author(s):  
Guo-cheng Zhang ◽  
Hai Huang ◽  
Hong-de Qin ◽  
Lei Wan ◽  
Yue-ming Li ◽  
...  
Keyword(s):  
Sliding Mode ◽  
Path Following ◽  
Second Order ◽  
Path Following Control ◽  
Second Order Sliding Mode
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