Adaptive control of electrically‐driven nonholonomic wheeled mobile robots: Taylor series‐based approach with guaranteed asymptotic stability

Haqshenas, M. AmirReza; Fateh, Mohammad Mehdi; Ahmadi, Sareh

doi:10.1002/acs.3104

Cited by 6 publications

(16 citation statements)

References 53 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The good tracking performance for all described initial situations (76), that is, far and close initial conditions compared to the desired trajectory, without the need for readjusting the control parameters is shown in Figure 8. Finally, the ‘Simscape Multibody’ environment of MATLAB (Haqshenas M. et al, 2020) has been employed to create the 3D design of the WMR (Figure 9) as well as to confirm the efficacy of obtained controller. The satisfactory tracking performance of control scheme is plotted in Figure 10 utilizing four initial conditions.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…The WMR’s dynamics (Fukao et al, 2000; Haqshenas M. et al, 2020) in work-space considering permanent magnet DC motors can be formulated by…”

Section: Dynamic Controller Designmentioning

confidence: 99%

“…A robust adaptive impedance scheme along with a sliding mode observer (Azimi et al, 2018) and a model-based adaptive control (Azimi et al, 2019) were applied successfully to control lower-limb prostheses. Designing two inner and outer control loops, indirect adaptive Taylor series controllers (Haqshenas M. et al, 2020) were proposed for electrically driven WMRs.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A state augmented adaptive backstepping control of wheeled mobile robots

Ahmadi

Taghadosi

2020

Transactions of the Institute of Measurement and Control

Self Cite

View full text Add to dashboard Cite

The present paper aims to design an integrated kinematic/dynamic-based tracking controller for wheeled mobile robots (WMRs) considering motors’ dynamics. By defining a reference WMR, the role of kinematic controller is to not only minimize the posture error which indicates the difference between the reference and actual WMRs, but also to generate a desired path for the actual WMR. The kinematic tracking control problem of WMRs is so challenging if motors’ dynamics, parametric and nonparametric uncertainties and external disturbances are considered. Thus, proposing a dynamic control law alongside a kinematic control is unavoidable. In this study, we propose a new dynamic controller, namely, a state augmented adaptive backstepping such that the desired path is asymptotically tracked. Several numerical results accompanied by 3D simulations of trajectory tracking control of a WMR in ‘Simscape Multibody’ environment and comparisons with two well-designed controllers in the literature are reported to show the high performance of proposed control structure.

show abstract

Section: Simulation Resultsmentioning

confidence: 99%

“…The WMR’s dynamics (Fukao et al, 2000; Haqshenas M. et al, 2020) in work-space considering permanent magnet DC motors can be formulated by…”

Section: Dynamic Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A state augmented adaptive backstepping control of wheeled mobile robots

Ahmadi

Taghadosi

2020

Transactions of the Institute of Measurement and Control

Self Cite

View full text Add to dashboard Cite

show abstract

“…Hence, the left and right angular velocities of the robot could be altered. In the same method, but adding to the actuator dynamic, an adaptive controller for an electrically driven nonholonomic mobile robot was investigated [13,14]. The simplified parameter estimation technique was recommended in order to reduce the number of tuning parameters.…”

Section: Methodsmentioning

confidence: 99%

Sustainable Agriculture: Stable Robust Control in Presence of Uncertainties for Multi-Functional Indoor Transportation of Farm Products

et al. 2020

View full text Add to dashboard Cite

Currently, integrated trends play a key role in every aspect of automation applications. In particular, if the mechanization of agriculture becomes a competitive factor among farmers or nations, then the multi-functional transportation of agricultural products is inevitable in global trade. In sustainable transportation, the challenge of overcoming stable control in harsh environments, such as through imprecise parameters or varying loads, should be addressed. In this paper, a novel controller for a nonholonomic mechanical system able to adapt to uncertainties is proposed. Based on the multi-functional autonomous carrier (MAC), the system configuration of the kinematic and dynamic model is launched in order to identify the unstable problems that arise when tracking the trajectory. To solve these troubles, the decoupled formation of a MAC system has been investigated by considering two second-order components, namely a linear speed-based sub-system and angular speed-based sub-system. To stabilize the whole system using the Lyapunov theory, the advanced control techniques are studied. To validate the proposed approach, a series of test scenarios have been carried out. From the superior performance of numerous trials, it is clear that our approach is effective, feasible, and reasonable for the advanced control of agricultural applications.

show abstract

“…ℝ 2×1 and J r (q r ) ∈ ℝ 3×2 is the Jacobian matrix formulated by The WMR dynamics [25] in work-space considering PMDC motors is formulated by ( 8) and ( 9)…”

Section: Problem Statementmentioning

confidence: 99%

A finite‐time adaptive Taylor series tracking control of electrically‐driven wheeled mobile robots

Fateh

Ahmadi

2022

IET Control Theory & Appl

Self Cite

View full text Add to dashboard Cite

This research seeks to address a new integrated kinematic/dynamic adaptive Taylor series‐based control design for the robust tracking of electrically‐driven differential drive wheeled mobile robots (WMRs). This control design includes two loops, namely the outer loop (a kinematic control law) and the inner loop (a dynamic controller). Being capable of compensating for far initial conditions from a desired trajectory, a new kinematic control law is designed to make the posture tracking error converge to zero asymptotically as well as to generate a desired trajectory for a dynamic controller. The key role of the dynamic controller is to compensate for lumped uncertainties. To do this, the proposed chattering‐free dynamic controller guarantees that the defined sliding surface which is a function of tracking error and its time derivative will be converged to zero within a finite time. The exact stability analysis of inner closed‐loop system is developed via two Lyapunov‐like positive definite functions to ensure not only the boundedness of all signals but also the finite‐time convergence of sliding surface to zero. The proposed control algorithm is validated by means of various simulations, including comparisons with well‐designed kinematic and integrated kinematic/dynamic control literature.

show abstract

Adaptive control of electrically‐driven nonholonomic wheeled mobile robots: Taylor series‐based approach with guaranteed asymptotic stability

Cited by 6 publications

References 53 publications

A state augmented adaptive backstepping control of wheeled mobile robots

A state augmented adaptive backstepping control of wheeled mobile robots

Sustainable Agriculture: Stable Robust Control in Presence of Uncertainties for Multi-Functional Indoor Transportation of Farm Products

A finite‐time adaptive Taylor series tracking control of electrically‐driven wheeled mobile robots

Contact Info

Product

Resources

About