scholarly journals Hierarchical Action Control Technique Based on Prediction Time for Autonomous Omni-Directional Mobile Robots

10.5772/8990 ◽  
2010 ◽  
Author(s):  
Masaki Takahashi ◽  
Yoshimasa Tada ◽  
Takafumi Suzuki ◽  
Kazuo Yoshi
Keyword(s):  
Mobile Robots ◽  
Action Control ◽  
Control Technique ◽  
Prediction Time

scholarly journals Hierarchical Action Control Technique Based on Prediction Time for Autonomous Omni-Directional Mobile Robots

2011 ◽  
Vol 5 (4) ◽  
pp. 547-559
Author(s):  
Masaki TAKAHASHI ◽  
Yoshimasa TADA ◽  
Takafumi SUZUKI ◽  
Kazuo YOSHIDA
Keyword(s):  
Mobile Robots ◽  
Action Control ◽  
Control Technique ◽  
Prediction Time

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 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.

High-Gain Observer-Based Neural Adaptive Feedback Linearizing Control of a Team of Wheeled Mobile Robots

Robotica ◽  
2019 ◽  
Vol 38 (1) ◽  
pp. 69-87 ◽  
Author(s):  
Neda Sarrafan ◽  
Khoshnam Shojaei
Keyword(s):  
Mobile Robots ◽  
Inverse Dynamics ◽  
Actuator Saturation ◽  
High Gain ◽  
Control Technique ◽  
Wheeled Mobile Robots ◽  
Tracking Errors ◽  
High Gain Observer ◽  
The Neural Network ◽  
Adaptive Laws

SummaryThis paper addresses the neural network (NN) output feedback formation tracking control of nonholonomic wheeled mobile robots (WMRs) with limited voltage input. A desired formation is achieved based on the leader–follower strategy utilizing hyperbolic tangent saturation functions to reduce the risk of actuator saturation. The controller is developed by incorporating the high-gain observer and radial basis function (RBF) NNs using the inverse dynamics control technique. The high-gain observer is introduced to estimate velocities of the followers. The RBF NN preserves the robustness of the proposed controller against uncertain nonlinearities. The adaptive laws are also combined by a robust control term to estimate the weights of RBF NN, approximation errors, and bounds of unknown time-variant environmental disturbances. A Lyapunov-based stability analysis proves that all signals of the closed-loop system are bounded, and tracking errors are uniformly ultimately bounded. Finally, some simulations are carried out to show the effectiveness of the proposed controller for a number of WMRs.

scholarly journals A rough terrain traction control technique for all-wheel-drive mobile robots

2010 ◽  
Vol 32 (4) ◽  
pp. 489-501 ◽  
Author(s):  
Alexandre F. Barral Silva ◽  
Auderi Vicente Santos ◽  
Marco Antonio Meggiolaro ◽  
Mauro Speranza Neto
Keyword(s):  
Mobile Robots ◽  
Control Technique ◽  
Rough Terrain ◽  
Traction Control ◽  
Wheel Drive

Optimal kinematic path tracking control of mobile robots with front steering

Robotica ◽  
1994 ◽  
Vol 12 (6) ◽  
pp. 563-568 ◽  
Author(s):  
A. Hemami ◽  
M. G. Mehrabi ◽  
R. M. H. Cheng
Keyword(s):  
Mobile Robots ◽  
Dynamic Properties ◽  
Control Strategies ◽  
Path Following ◽  
Path Tracking ◽  
Control Technique ◽  
Control Input ◽  
Wheeled Mobile Robots ◽  
Steering Angle ◽  
Feedback Matrix

SummaryThis work concerns the class of wheeled mobile robots with single axis front steering. Because of the relatively low speed of these vehicles their dynamic properties have little effect on their path tracking behaviour. Their motion is, moreover, on a flat environment and can be assumed two dimensional.The kinematics of motion of such a vehicle can be utilized for design of control strategies for maintaining path following stability. In this paper, optimal control technique is implemented to such a system. First, the state space equations governing the motion are derived. The orientation error and the offset from a path form the states and the steering angle is the control input to the system. An optimal controller to minimize the two errors and the steering angle is then sought. The conditions for the existence of the feedback matrix are discussed. The controller structure is defined in terms of the forward speed of the vehicle and, thus, has the advantage of being flexible for speed changes. Numerical illustrative examples, however, demonstrate that variation of the speed has no effect on the controller structure.

scholarly journals Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Hua Cen ◽  
Bhupesh Kumar Singh
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Wheeled Mobile Robot ◽  
Control Technique ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control

Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

Merkmalsintegration und Abruf als wichtige Prozesse der Handlungssteuerung – eine Paradigmen-übergreifende Perspektive

2020 ◽  
Vol 71 (1) ◽  
pp. 1-14 ◽  
Author(s):  
Christian Frings ◽  
Iring Koch ◽  
Klaus Rothermund ◽  
David Dignath ◽  
Carina Giesen ◽  
...  
Keyword(s):  
Action Control

Zusammenfassung. Die Kognitionspsychologische Grundlagenforschung zur Handlungskontrolle hat inzwischen eine große Zahl sehr spezifischer Aspekte von Handlungen in diversen Experimentalparadigmen isoliert und beleuchtet, sodass der gegenwärtige Forschungsstand durch eine kaum übersehbare Flut unverbundener Phänomene und paradigmen-spezifischer Modellvorstellungen gekennzeichnet ist. In dem hier vorgeschlagenen Rahmenmodell ( Binding and Retrieval in Action Control, BRAC) werden die für Handlungen wichtigsten Prozesse paradigmen-übergreifend beschrieben, systematisch eingeordnet und in ein Rahmenmodell transferiert, bei dem Merkmalsintegration und Merkmalsabruf als wichtige Mechanismen der Handlungssteuerung dienen. Wir zeigen exemplarisch auf, wie das Rahmenmodell etablierte, aber bislang unabhängig voneinander untersuchte Phänomene der Handlungs-Forschung mithilfe derselben Mechanismen erklärt. Dieses Modell birgt neben seiner Ordnungs- und Integrationsfunktion die Möglichkeit, Phänomen auch aus anderen Forschungskontexten in der Sprache des Modells zu reformulieren. Das Modell soll Wissen aus der Kognitionsforschung bzw. Allgemeinen Psychologie innovativ kondensieren und anderen Disziplinen zur Verfügung stellen.

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