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.

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.

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.

Trajectory Tracking Control of an Amphibious Spherical Robot Using MPC Approach

2021 ◽  
Author(s):  
Meng Liu ◽  
Shuxiang Guo ◽  
Liwei Shi ◽  
Xihuan Hou ◽  
He Yin ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Spherical Robot ◽  
Trajectory Tracking Control

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1551-1570 ◽  
Author(s):  
Hossein Mirzaeinejad ◽  
Ali Mohammad Shafei
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Tracking Accuracy ◽  
Wheeled Mobile Robots ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Control Approach ◽  
Prediction Time

SUMMARYThis study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers.

Simultaneous Trajectory Tracking and Stiffness Control of Cable Actuated Parallel Manipulator

2009 ◽  
Author(s):  
Kun Yu ◽  
Leng-Feng Lee ◽  
Venkat N. Krovi
Keyword(s):  
Trajectory Tracking ◽  
Parallel Manipulators ◽  
Control Input ◽  
Robot System ◽  
Trajectory Tracking Control ◽  
Implementation Framework ◽  
Actuation Redundancy ◽  
Cable Robot ◽  
Control Schemes ◽  
Stiffness Control

Cable-actuated parallel manipulators combine benefits of large workspaces, significant payload capacities and high stiffness by virtue of the cable actuation. However, redundant/surplus cables are required to overcome the unidirectional nature of forces exertable by cables. This leads to actuation redundancy which needs to be resolved in order to realize some of the benefits. We study the implication of using actuation redundancy to tailor the workspace (task space) stiffness of the cable robot system. Suitable trajectory tracking control schemes are developed that additionally achieve secondary goal of active stiffness control to improve disturbance rejection, under positive control input constraint We demonstrate the performance of these control schemes using a point-mass cable robot system modeled within a virtual prototyping (VP) implementation framework.

The Leveling Position Control of a Four-Axial Active Pneumatic Isolation System Using PWM-Driving Parallel Dual-On/Off Valves

2011 ◽  
Vol 110-116 ◽  
pp. 3176-3183 ◽  
Author(s):  
Mao Hsiung Chiang ◽  
Hao Ting Lin
Keyword(s):  
Trajectory Tracking ◽  
Vibration Isolation ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Trajectory Tracking Control ◽  
Isolation System ◽  
Adaptive Sliding Mode Controller ◽  
Novel Concept

This study aims to develop a leveling position control of an active PWM-controlled pneumatic isolation table system. A novel concept using parallel dual-on/off valves with PWM control signals is implemented to realize active control and to improve the conventional pneumatic isolation table that supported by four pneumatic cushion isolators. In this study, the cushion isolators are not only passive vibration isolation devices, but also pneumatic actuators in active position control. Four independent closed-loop position feedback control system are designed and implemented for the four axial isolators. In this study, on/off valves are used, and PWM is realized by software. Therefore, additional hardware circuit is not required to implement PWM and not only cost down but also reach control precision of demand. In the controller design, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to deal with the uncertainty and time-varying problems of pneumatic system. Finally, the experiments on the pneumatic isolation table system for synchronous position and trajectory tracking control, including no-load and loading conditions, and synchronous position control with master-slave method, are implemented in order to verify that the controller for each cushion isolator can realize good position and trajectory tracking performance.

Mathematical modelling and model predictive controller design of a quad tiltrotor UAV

2020 ◽  
pp. 095440622097133
Author(s):  
Jingxian Liao ◽  
Xiaodong Song
Keyword(s):  
Mathematical Model ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Control Input ◽  
Random Disturbance ◽  
Effect Analysis ◽  
Input Variables ◽  
Induced Velocity

A novel convertible unmanned aerial vehicle (UAV) with four tiltable rotors and a tandem-wing system has been developed. Considering the aerodynamic effect caused by the rotor-induced velocity, a mathematical model that contains the traditional free airstream analysis and rotor-induced effect analysis is proposed, from which the precise equilibrium point of the control inputs and states can be derived. Moreover, a control allocation algorithm is designed to provide the mapping relationship between traditional input variables and specific input variables of the UAV, so that the complicated mathematical model can be linearized for the design of model predictive control (MPC) system. In order to handle the control input constraints of the UAV system, an MPC system is applied for the trajectory tracking during the cruising phase. The simulation results demonstrate that the proposed model predictive control system has stability, accuracy without a random disturbance and quick response capabilities with a random disturbance during cruising trajectory tracking, which are in high demand for the quick UAV flight system.

Adaptive trajectory tracking control of a differential drive wheeled mobile robot

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 391-402 ◽  
Author(s):  
Khoshnam Shojaei ◽  
Alireza Mohammad Shahri ◽  
Ahmadreza Tarakameh ◽  
Behzad Tabibian
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Feedback Linearization ◽  
Dynamic Models ◽  
Parametric Uncertainty ◽  
Adaptive Controller ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics ◽  
Simulation Results

SUMMARYThis paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

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