scholarly journals Trajectory Tracking and Stabilization of Nonholonomic Wheeled Mobile Robot Using Recursive Integral Backstepping Control

Electronics ◽  
2021 ◽  
Vol 10 (16) ◽  
pp. 1992
Author(s):  
Muhammad Junaid Rabbani ◽  
Attaullah Y. Memon
Keyword(s):  
Normal Form ◽  
Trajectory Tracking ◽  
Feedback Linearization ◽  
Dynamic Models ◽  
Orientation Angle ◽  
Backstepping Control ◽  
Control Technique ◽  
Internal Dynamics ◽  
Backstepping Controller ◽  
Posture Stabilization

In this paper, a generalized nontriangular normal form is presented to facilitate designing a recursive integral backstepping control for the class of underactuated nonholonomic systems, i.e., wheeled mobile robots (WMRs) that perform posture stabilization and trajectory tracking in environments without obstacles. Based on the differential geometry theory, we develop a multiple input multiple output (MINO) generalization of normal form using the input-output feedback linearization technique. Then, the change of variables (diffeomorphism) transform the state-space model of WMR, incorporating both kinematic and dynamic models into nontriangular normal form. As a result, the system dynamics can be represented as internal and external dynamics. The nonlinear internal dynamics of WMR pose serious challenges to design a suitable controller due to its internal dynamics being not minimum phase and non-strict feedback form structure. The proposed backstepping controller is designed in two steps. First, a standard integral backstepping controller is designed to stabilize the robot’s orientation angle. Then, a recursive integral backstepping control technique is applied to achieve asymptotic convergence of position error to zero. Hence, both asymptotic posture stabilization and trajectory tracking are achieved in semi-global regions, except the nonzero initial condition of the orientation angle. The asymptotic stability of the entire closed-loop system is shown using the Lyapunov criteria.

Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system

2019 ◽  
pp. 014233121986777
Author(s):  
Fatih Adıgüzel ◽  
Yaprak Yalçın
Keyword(s):  
Discrete Time ◽  
Feedback Linearization ◽  
Inverted Pendulum ◽  
Backstepping Control ◽  
Disturbance Attenuation ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Partial Feedback Linearization ◽  
Partial Feedback ◽  
Backstepping Controller

A discrete-time backstepping controller with an active disturbance attenuation property for the Inverted-Pendulum system is constructed in this paper. The main purpose of this study is to show that Immersion and Invariance (I & I) approach can be used to design a nonlinear observer for disturbance estimation and demonstrate its effectiveness considering a nonlinear system with an unstable equilibrium point, namely Inverted-Pendulum system, by utilizing the estimated values in backstepping control design. All designs are directly performed in discrete-time domain to obtain directly implementable observer and controller in discrete processors with superior performance compared to emulators. The Inverted-Pendulum system is not in strict feedback form therefore backstepping procedure cannot be directly applied. In order to enable backstepping construction, firstly a partial feedback linearization is performed and afterwards a novel discrete-time coordinate transformation is proposed. Prior to the construction of partial feedback linearizing and backstepping controller, a nonlinear disturbance estimator design is proposed with Immersion and Invariance approach. The estimated disturbance values used in the partial feedback linearization and construction of the backstepping controller. The global asymptotic stability of the estimator and local asymptotic stability of overall closed loop system are proved in the sense of Lyapunov. Performance of proposed direct discrete-time backstepping control with discrete I & I observer is compared with a backstepping sliding mode controller with another nonlinear disturbance observer (NDO) by simulations.

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.

scholarly journals PATH TRACKING FOR AN AUTONOMOUS VEHICLE DURING EMERGENCY CONDITION

2021 ◽  
Vol 2 (2) ◽  
pp. 025-033
Author(s):  
Zulkarnain Zulkarnain ◽  
Ismail Thamrin ◽  
Firmansyah Burlian ◽  
Indah Novianty
Keyword(s):  
Trajectory Tracking ◽  
Autonomous Vehicle ◽  
Orientation Angle ◽  
Lateral Position ◽  
Path Tracking ◽  
Control Technique ◽  
Vehicle Speed ◽  
The Road ◽  
The Difference ◽  
Vehicle Path

An autonomous vehicle's primary function is detecting and tracking the road course precisely and correctly without a driver's assistance. As a result, implementing appropriate controllers is critical for improving the vehicle's stability and movement responsiveness. The performance of adaptive Stanley controlled is evaluated in this paper using numerical simulations. The Stanley controller's most common geometric controller for vehicle path tracking algorithms is compared based on their trajectory tracking analyses on various vehicle speed maneuvers. Stanley calculates steering based on the difference between the vehicle's lateral position and heading angle. The difference between desired coordinates and present coordinates of the vehicle along the path is used to calculate lateral, longitudinal, and vehicle heading orientation angle using the future prediction control technique. The results demonstrate that the Stanley controller outperforms the emergency trajectory with more consistent trajectory tracking and steady-state error.

scholarly journals Control of Internal Dynamics of Grid-Connected Modular Multilevel Converter Using an Integral Backstepping Controller

Electronics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 456 ◽  
Author(s):  
Waqar Ud Din ◽  
Kamran Zeb ◽  
Muhammad Ishfaq ◽  
Saif Ul Islam ◽  
Imran Khan ◽  
...  
Keyword(s):  
Power Systems ◽  
Harmonic Distortion ◽  
Backstepping Control ◽  
Modular Multilevel Converter ◽  
Multilevel Converter ◽  
Internal Dynamics ◽  
Circulating Current ◽  
Integral Action ◽  
Capacitor Voltage ◽  
Backstepping Controller

The modular multilevel converter (MMC) has significant applications in power systems due to its promising features, such as modularity, reliability, scalability, and low harmonic distortion. One of the challenges in the operation of MMC is to regulate the circulating current in its phase leg and sub module (SM) capacitor voltage. This paper presents the control of internal dynamics, i.e., circulating current and submodule capacitor voltage, of the MMC using an integral backstepping algorithm. The design of the controller is based on Lyapunov stability function. The backstepping control ensures the convergence of the error signal to zero. Additionally, the integral action in the control law increases the robustness and reliability of the system against the external disturbances and model uncertainties. Moreover, the integral term in the controller eliminates the residual steady-state error. The Lyapunov function-based design of the backstepping controller guarantees the convergence of circulating current as well as submodule capacitor voltage for any possible initial condition. Moreover, the performance of the proposed integral backstepping controller is compared with the proportional resonant (PR) controller. The proposed backstepping control scheme for three-phase MMC has been implemented in MATLAB/Simulink.

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.

Dynamic Models for Magnetorheological Dampers and its Feedback Linearization

2009 ◽  
Vol 79-82 ◽  
pp. 1205-1208 ◽  
Author(s):  
Cheng Zhang ◽  
Lin Xiang Wang
Keyword(s):  
Differential Equation ◽  
Phase Transition ◽  
Ordinary Differential Equation ◽  
Feedback Linearization ◽  
Dynamic Models ◽  
Nonlinear Ordinary Differential Equation ◽  
Transition Theory ◽  
Magnetorheological Dampers ◽  
Differential Model ◽  
Mr Dampers

In the current paper, the hysteretic dynamics of magnetorheological dampers is modeled by a differential model. The differential model is constructed on the basis of a phenomenological phase transition theory. The model is expressed as a second order nonlinear ordinary differential equation with bifurcations embedded in. Due to the differential nature of the model, the hysteretic dynamics of the MR dampers can be linearized and controlled by introducing a feedback linearization strategy.

scholarly journals Indirect power control of DFIG based on wind turbine operating in MPPT using backstepping approach

2021 ◽  
Vol 11 (3) ◽  
pp. 1951
Author(s):  
Yahya Dbaghi ◽  
Sadik Farhat ◽  
Mohamed Mediouni ◽  
Hassan Essakhi ◽  
Aicha Elmoudden
Keyword(s):  
Wind Turbine ◽  
Reactive Power ◽  
Energy System ◽  
Control Technique ◽  
Second Step ◽  
Fast Transient Response ◽  
Internal Parameters ◽  
Wind Energy System ◽  
Backstepping Controller ◽  
Rotor Side Converter

This paper describes a MPPT control of the stator powers of a DFIG operating within a wind energy system using the backstepping control technique. The objective of this work consists of providing a robust control to the rotor-side converter allowing the stator active power to be regulated at the maximum power extracted from the wind turbine, as well as maintaining the stator reactive power at zero to maintain the power factor at unity, under various conditions. We have used the Matlab/Simulink platform to model the wind system based on a 7.5 kW DFIG and to implement the MPPT control algorithm in a first step, then we have implemented the field-oriented control and the backstepping controller in a second step. The simulation results obtained were very satisfactory with a fast transient response and neglected power ripples. They furthermore confirmed the high robustness of the approach used in dealing with the variation of the internal parameters of the machine.

Impact Control of Flexible Robots Using Sliding Mode Technique

1993 ◽  
Author(s):  
Eming Chen
Keyword(s):  
Motion Control ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Contact Process ◽  
Control Technique ◽  
Work Piece ◽  
System Control ◽  
State Variables ◽  
Flexible Robot ◽  
Nonlinear System Control

Abstract In the flexible robot force control situations, if there exists a discontinuity between the robot tip sensor and the work-piece, the robot contact process becomes a nonlinear system control problem. The control tasks require the robot hand to switch from free motion control to contact motion control. The inevitable high impact force tends to let the system become unstable. The purpose of this paper is to investigate the control of the manipulator during this process. In this paper, dynamic models of the flexible link manipulator in both non-contacted and contacted modes are first derived. Due to the fact that the arm vibration shape functions are changed between the two modes, a transform matrix will be used to transform the controlled state variables, such as generalized position and velocity. A nonlinear sliding mode control technique has been implemented in an attempt to extinguish the chatter phenomenon and settle quickly to the desired setpoint.

scholarly journals Mathematical Formulation of Feedback Linearizing Control of Doubly Fed Induction Generator Including Magnetic Saturation Effects

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Julia Tholath Jose ◽  
Adhir Baran Chattopadhyay
Keyword(s):  
Feedback Linearization ◽  
Control Algorithm ◽  
Mathematical Formulation ◽  
Control Technique ◽  
Induction Generator ◽  
Magnetic Saturation ◽  
Doubly Fed Induction Generator ◽  
State Variables ◽  
Feedback Linearization Control ◽  
Doubly Fed

This paper proposes a control methodology based on feedback linearization for a doubly fed induction generator (DFIG) incorporating the magnetic saturation. The feedback linearization algebraically converts a nonlinear system model into a linear model, allowing the use of linear control techniques. Feedback linearization control depends on the model of the system and is therefore sensitive to parameter variations. The doubly fed induction generator (DFIG) operating under the magnetic saturation conditions results in the nonlinear variation of magnetizing inductance, which affects the performance of the control algorithm. From this stand point, on the basis of the dynamic model of the doubly fed induction generator considering magnetic saturation, the feedback linearizing control technique has been formulated. The mathematical model of the doubly fed induction generator, integrating the magnetic saturation has been formulated in the stator flux-oriented reference frame with rotor current and stator magnetizing current as state variables. Simulation studies demonstrate that the inclusion of magnetic saturation in the feedback linearization control of the doubly fed induction generator model increases its accuracy and results in a more efficient and reliable synthesis of the control algorithm.

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