scholarly journals Robust Adaptive Stabilization of Nonholonomic Mobile Robots with Bounded Disturbances

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Gang Chen ◽  
Tingting Gao ◽  
Jiangshuai Huang ◽  
Qicai Zhou
Keyword(s):  
Mobile Robots ◽  
Kinematic Model ◽  
Adaptive Stabilization ◽  
Backstepping Method ◽  
Closed Loop System ◽  
Nonholonomic Mobile Robots ◽  
Additional Control ◽  
Bounded Disturbances ◽  
Unknown System ◽  
Robust Adaptive

The stabilization problem of nonholonomic mobile robots with unknown system parameters and environmental disturbances is investigated in this paper. Considering the dynamic model and the kinematic model of mobile robots, the transverse function approach is adopted to construct an additional control parameter, so that the closed-loop system is not underactuated. Then the adaptive backstepping method and the parameter projection technique are applied to design the controller to stabilize the system. At last, simulation results demonstrate the effectiveness of our proposed controller schemes.

Semiglobal Stabilization for Nonholonomic Mobile Robots Based on Dynamic Feedback With Inputs Saturation

2012 ◽  
Vol 134 (4) ◽  
Author(s):  
Hua Chen ◽  
Chaoli Wang ◽  
Liu Yang ◽  
Dongkai Zhang
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Closed Loop ◽  
Kinematic Model ◽  
Loop System ◽  
Control Technique ◽  
Dynamic Feedback ◽  
Closed Loop System ◽  
Nonholonomic Mobile Robots ◽  
Semiglobal Stabilization

This paper investigates the semiglobal stabilization problem for nonholonomic mobile robots based on dynamic feedback with inputs saturation. A bounded, continuous, time-varying controller is presented such that the closed-loop system is semiglobally asymptotically stable. The systematic strategy combines finite-time control technique with the virtual-controller-tracked method, which is similar to the back-stepping procedure. First, the bound-constrained smooth controller is presented for the kinematic model. Second, the dynamic feedback controller is designed to make the generalized velocity converge to the prespecified kinematic (virtual) controller in a finite time. Furthermore, the rigorous proof is given for the stability analysis of the closed-loop system. In the mean time, the position and torque inputs of robots are proved to be bounded at any time. Finally, the simulation results show the effectiveness of the proposed control approach.

scholarly journals Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Zhaoxia Peng ◽  
Shichun Yang ◽  
Guoguang Wen ◽  
Ahmed Rahmani
Keyword(s):  
Control Problem ◽  
Mobile Robots ◽  
Formation Control ◽  
Control Strategies ◽  
Reference Trajectory ◽  
Consensus Problem ◽  
Distributed Consensus ◽  
Nonholonomic Mobile Robots ◽  
Robust Adaptive ◽  
Virtual Leader

This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.

scholarly journals Adaptive Secure Control for Leader-Follower Formation of Nonholonomic Mobile Robots in the Presence of Uncertainty and Deception Attacks

Mathematics ◽  
2021 ◽  
Vol 9 (18) ◽  
pp. 2190
Author(s):  
Bong-Seok Park ◽  
Sung-Jin Yoo
Keyword(s):  
Mobile Robots ◽  
Adaptive Compensation ◽  
Tracking Errors ◽  
External Disturbances ◽  
Nonholonomic Mobile Robots ◽  
Formation Tracking ◽  
Control Scheme ◽  
Secure Control ◽  
Robust Adaptive ◽  
Lyapunov Sense

This paper addresses an adaptive secure control problem for the leader-follower formation of nonholonomic mobile robots in the presence of uncertainty and deception attacks. It is assumed that the false data of the leader robot’s information attacked by the adversary is transmitted to the follower robot through the network, and the dynamic model of each robot has uncertainty, such as unknown nonlinearity and external disturbances. A robust, adaptive secure control strategy compensating for false data and uncertainty is developed to accomplish the desired formation of nonholonomic mobile robots. An adaptive compensation mechanism is derived to remove the effects of time-varying attack signals and system uncertainties in the proposed control scheme. Although unknown deception attacks are injected to the leader’s velocities and the model nonlinearities of robots are unknown, the boundedness and convergence of formation tracking errors of the proposed adaptive control system are analyzed in the Lyapunov sense. The validity of the proposed scheme is verified via simulation results.

scholarly journals Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Bingyan Chen ◽  
Baojun Li ◽  
Jinbo Zhang
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Kinematic Model ◽  
Small Neighborhood ◽  
Angle Measurement ◽  
Control Technique ◽  
Stabilization Problem ◽  
Nonholonomic Mobile Robots ◽  
Camera System ◽  
Practical Stabilization

The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in some literatures such as Morin et al. (1998), Hespanha et al. (1999), Jiang (2000), and Hong et al. (2005). Finally, the simulation results show the effectiveness of the proposed controller design approach.

Kinematic Model of Nonholonomic Mobile Robots

2014 ◽  
Vol 611 ◽  
pp. 107-114 ◽  
Author(s):  
Jaromír Jezný
Keyword(s):  
Mobile Robots ◽  
Structural Characteristics ◽  
Kinematic Model ◽  
Wheeled Mobile Robots ◽  
Nonholonomic Mobile Robots ◽  
General Overview ◽  
Kinematic Models ◽  
Multiple Groups

Provided in this article is a general overview of modeling nonholonomic mobile robots. Emphasis is given to the structural characteristics of kinematic models, taking into account the mobility restrictions caused by various links. Based on the degree of mobility and the degree of controllability it is possible to divide wheeled mobile robots into multiple groups, regardless of the robot construction and the wheels arrangement.

Sign in / Sign up

Export Citation Format

Share Document