The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design

2021 ◽  
pp. 1-23
Author(s):  
Stefan Atay ◽  
Matthew Bryant ◽  
Gregory D. Buckner
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
High Mobility ◽  
Theoretical Development ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
And Control

Abstract This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control systems, with experimental validation. The vehicle under consideration may roll along the ground to conserve power and extend endurance but may also fly to provide high mobility and maneuverability when necessary. The vehicle employs a three-axis gimbal system that decouples the rotor orientation from the vehicle's terrestrial rolling motion. A dynamic model of the vehicle's terrestrial motion is derived from first principles. The dynamic model becomes the basis for a nonlinear trajectory tracking control system suited to the architecture of the vehicle. The vehicle is over-actuated while rolling, and the additional degrees of actuation can be used to accomplish auxiliary objectives, such as power optimization and gimbal lock avoidance. Experiments with a hardware vehicle demonstrate the efficacy of the trajectory tracking control system.

scholarly journals AUV Trajectory Tracking Models and Control Strategies: A Review

2021 ◽  
Vol 9 (9) ◽  
pp. 1020
Author(s):  
Daoliang Li ◽  
Ling Du
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Reference Model ◽  
Control Strategies ◽  
Autonomous Underwater Vehicles ◽  
Trajectory Tracking Control ◽  
Open Problems ◽  
Modeling And Control ◽  
Motion System ◽  
And Control

Autonomous underwater vehicles (AUVs) have been widely used to perform underwater tasks. Due to the environmental disturbances, underactuated problems, system constraints, and system coupling, AUV trajectory tracking control is challenging. Thus, further investigation of dynamic characteristics and trajectory tracking control methods of the AUV motion system will be of great importance to improve underwater task performance. An AUV controller must be able to cope with various challenges with the underwater vehicle, adaptively update the reference model, and overcome unexpected deviations. In order to identify modeling strategies and the best control practices, this paper presents an overview of the main factors of control-oriented models and control strategies for AUVs. In modeling, two fields are considered: (i) models that come from simplifications of Fossen’s equations; and (ii) system identification models. For each category, a brief description of the control-oriented modeling strategies is given. In the control field, three relevant aspects are considered: (i) significance of AUV trajectory tracking control, (ii) control strategies; and (iii) control performance. For each aspect, the most important features are explained. Furthermore, in the aspect of control strategies, mathematical modeling study and physical experiment study are introduced in detail. Finally, with the aim of establishing the acceptability of the reported modeling and control techniques, as well as challenges that remain open, a discussion and a case study are presented. The literature review shows the development of new control-oriented models, the research in the estimation of unknown inputs, and the development of more innovative control strategies for AUV trajectory tracking systems are still open problems that must be addressed in the short term.

scholarly journals A Neural Network Based Dynamic Control Method for Soft Pneumatic Actuator with Symmetrical Chambers

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 112
Author(s):  
Yiqing Li ◽  
Yan Cao ◽  
Feng Jia
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Dynamic Control ◽  
The State ◽  
Pneumatic Actuator ◽  
Trajectory Tracking Control ◽  
Modeling And Control

Dynamic modeling and control of the soft pneumatic actuators are challenging research. In this paper, a neural network based dynamic control method used for a soft pneumatic actuator with symmetrical chambers is proposed. The neural network is introduced to create the dynamic model for predicting the state of the actuator. In this dynamic model, the effect of the uninflated rubber block on bending deformation is considered. Both pressures of the actuator are used for predicting the state of the actuator during the bending motion. The controller is designed based on this dynamic model for trajectory tracking control. Three types of trajectory tracking control experiments are performed to validate the proposed method. The results show that the proposed control method can control the motion of the actuator and track the trajectory effectively.

scholarly journals Development of an Adaptive Trajectory Tracking Control of Wheeled Mobile Robot

2021 ◽  
Vol 30 (55) ◽  
pp. e12022
Author(s):  
Guiovanny Suarez-Rivera ◽  
Nelson David Muñoz-Ceballos ◽  
Henry Mauricio Vásquez-Carvajal
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Recursive Least Squares ◽  
Pid Controllers ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
Analysis Technique ◽  
Mathematical Equations ◽  
And Control

Classical modeling and control methods applied to differential locomotion mobile robots generate mathematical equations that approximate the dynamics of the system and work relatively well when the system is linear in a specific range. However, they may have low accuracy when there are many variations of the dynamics over time or disturbances occur. To solve this problem, we used a recursive least squares (RLS) method that uses a discrete-time structure first-order autoregressive model with exogenous variable (ARX). We design and modify PID adaptive self-adjusting controllers in phase margin and pole allocation. The main contribution of this methodology is that it allows the permanent and online update of the robot model and the parameters of the adaptive self-adjusting PID controllers. In addition, a Lyapunov stability analysis technique was implemented for path and trajectory tracking control, this makes the errors generated in the positioning and orientation of the robot when performing a given task tend asymptotically to zero.  The performance of the PID adaptive self-adjusting controllers is measured through the implementation of the criteria of the integral of the error, which allows to determine the controller of best performance, being in this case, the PID adaptive self-adjusting type in pole assignment, allowing the mobile robot greater precision in tracking the trajectories and paths assigned, as well as less mechanical and energy wear, due to its smooth and precise movements.

Modeling and Control of a Horizontal Two-Link Rigid/Flexible Robot

2005 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Control ◽  
Distributed Parameter ◽  
Mathematical Tool ◽  
Flexible Robot ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
Control Scheme

This paper proposes a trajectory control scheme for a horizontal two-link rigid/flexible robot having a payload at the free end. First, a new distributed-parameter dynamic model, consisting of two ordinary differential equations and one partial differential equation, is derived using the extended Hamilton’s principle, and then a trajectory-tracking control scheme is designed based on the distributed-parameter dynamic model, where the Lyapunov stability theorem is used as a mathematical tool. The proposed control is a collocated control, free from the so-called spillover instability. The proposed control consists of a PD control for the rigid dynamics, a proportional control for the flexible dynamics, and feed forward and dynamics compensation. With only two joint actuators, the proposed trajectory control guarantees stability throughout the entire trajectory-tracking control and asymptotic stability at desired goal positions. The theoretical results have been evaluated with control experiments.

Robust motion control of live-line maintenance robot mechanical arm for high-voltage transmission line based on H∞ theory

2016 ◽  
Vol 40 (3) ◽  
pp. 951-967 ◽  
Author(s):  
Wei Jiang ◽  
Gongping Wu ◽  
Wei Wang ◽  
Jie Zhang ◽  
Fei Fan ◽  
...  
Keyword(s):  
Control System ◽  
Transmission Line ◽  
Dynamic Model ◽  
Motion Control ◽  
High Voltage ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Tracking Control ◽  
Arm Motion

To overcome the low operation efficiency, high labour-intensiveness and high risk in the artificial live-line replacement of insulator strings, a robot for overhead transmission line maintenance was developed. In order to suppress effectively the influences of disturbance signals and uncertainties on tracking precision and stability of the robot mechanical arm motion under high voltage and strong electromagnetic interference, this paper proposed a H∞ control theory-based robust trajectory tracking control method for the robot mechanical arm. Through layering robot control architecture, a dynamic model of mechanical arm basic motion was established by the Lagrange method combined with an armature voltage equation of the joint motor, and the unified dynamic model of mechanical arm different motion was obtained. On this basis, the state-space model of mechanical arm motion error was deduced under disturbances and uncertainties, and thus an H∞ control model for mechanical arm motion was constructed. Subsequently, the H∞ controller for the mechanical arm trajectory tracking control system was solved by linear matrix inequality (LMI) based on the established model, and the asymptotic stability of the mechanical arm motion control system was verified by selecting the appropriate Lyapunov function. The proposed method for such a controller was proved to be of good versatility, strong adaptability and sound expansibility. Finally, simulation results verified the effectiveness of the H∞ controller and field operation tests further validated the engineering practicability of such a control method in macro and micro aspects.

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.

A novel recursive formulation for dynamic modeling and trajectory tracking control of multi-rigid-link robotic manipulators mounted on a mobile platform

2020 ◽  
pp. 095965182097390
Author(s):  
AM Shafei ◽  
H Mirzaeinejad
Keyword(s):  
Dynamic Modeling ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Robotic System ◽  
Mobile Platform ◽  
Reference Trajectory ◽  
Trajectory Tracking Control ◽  
Recursive Formulation ◽  
Mobile Base

This article establishes an innovative and general approach for the dynamic modeling and trajectory tracking control of a serial robotic manipulator with n-rigid links connected by revolute joints and mounted on an autonomous wheeled mobile platform. To this end, first the Gibbs–Appell formulation is applied to derive the motion equations of the mentioned robotic system in closed form. In fact, by using this dynamic method, one can eliminate the disadvantage of dealing with the Lagrange Multipliers that arise from nonholonomic system constraints. Then, based on a predictive control approach, a general recursive formulation is used to analytically obtain the kinematic control laws. This multivariable kinematic controller determines the desired values of linear and angular velocities for the mobile base and manipulator arms by minimizing a point-wise quadratic cost function for the predicted tracking errors between the current position and the reference trajectory of the system. Again, by relying on predictive control, the dynamic model of the system in state space form and the desired velocities obtained from the kinematic controller are exploited to find proper input control torques for the robotic mechanism in the presence of model uncertainties. Finally, a computer simulation is performed to demonstrate that the proposed algorithm can dynamically model and simultaneously control the trajectories of the mobile base and the end-effector of such a complicated and high-degree-of-freedom robotic system.

Real-time trajectory tracking control of Stewart platform using fractional order fuzzy PID controller optimized by particle swarm algorithm

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zafer Bingul ◽  
Oguzhan Karahan
Keyword(s):  
Dynamic Model ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Fuzzy Pid ◽  
Simulation Environment ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Control Approach ◽  
Coupling Dynamic

Purpose The purpose of this paper is to address a fractional order fuzzy PID (FOFPID) control approach for solving the problem of enhancing high precision tracking performance and robustness against to different reference trajectories of a 6-DOF Stewart Platform (SP) in joint space. Design/methodology/approach For the optimal design of the proposed control approach, tuning of the controller parameters including membership functions and input-output scaling factors along with the fractional order rate of error and fractional order integral of control signal is tuned with off-line by using particle swarm optimization (PSO) algorithm. For achieving this off-line optimization in the simulation environment, very accurate dynamic model of SP which has more complicated dynamical characteristics is required. Therefore, the coupling dynamic model of multi-rigid-body system is developed by Lagrange-Euler approach. For completeness, the mathematical model of the actuators is established and integrated with the dynamic model of SP mechanical system to state electromechanical coupling dynamic model. To study the validness of the proposed FOFPID controller, using this accurate dynamic model of the SP, other published control approaches such as the PID control, FOPID control and fuzzy PID control are also optimized with PSO in simulation environment. To compare trajectory tracking performance and effectiveness of the tuned controllers, the real time validation trajectory tracking experiments are conducted using the experimental setup of the SP by applying the optimum parameters of the controllers. The credibility of the results obtained with the controllers tuned in simulation environment is examined using statistical analysis. Findings The experimental results clearly demonstrate that the proposed optimal FOFPID controller can improve the control performance and reduce reference trajectory tracking errors of the SP. Also, the proposed PSO optimized FOFPID control strategy outperforms other control schemes in terms of the different difficulty levels of the given trajectories. Originality/value To the best of the authors’ knowledge, such a motion controller incorporating the fractional order approach to the fuzzy is first time applied in trajectory tracking control of SP.

Sign in / Sign up

Export Citation Format

Share Document