Adaptive motion tracking control of uncertain nonholonomic mechanical systems including actuator dynamics

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

“…After carrying out the review of the literature associated with design of controllers for the trajectory tracking task in differential drive WMRs, it was found that, generally, this task has been solved in three directions: (a) by only using the kinematic or dynamic model of the mechanical structure , (b) by employing the kinematic/dynamic model of the mechanical structure along with the dynamics of the actuators [85][86][87][88][89][90][91][92][93][94][95][96][97][98][99][100][101][102][103], and (c) by considering the kinematic model of the mechanical structure along with the dynamics of the actuators and power stage [104,105]. In the last direction, contributions that have carried out interesting efforts are [106][107][108][109][110][111][112][113][114].…”

“…This can be observed when the WMR is moving at high speeds or when its mass is variable [89]. Motivated by these facts, Anupoju et al [90] designed three adaptive controllers, the first one for the kinematic model of the mechanical structure, the second one for the dynamic model of that same mechanical structure, and the third one for the actuators. Das and Kar [91] formulated an adaptive fuzzy logic-based controller.…”

Design of a robust neural network-based tracking controller for a class of electrically driven nonholonomic mechanical systems

“…Some motion tracking control schemes can be found in the literature for nonholonomic constraint mechanical systems [3,4,9,43] in which the complex dynamics of the entire mechanical system are assumed to be exactly known. Moreover, various robust and adaptive control schemes have already been carried out to address control design for perturbative nonholonomic mechanical systems [2,10,16,17,20,30]. During the development of these classical robust/adaptive control algorithms, the use of a regressor matrix has become quite popular in the design of adaptive control algorithms, and the implementation of the developed control schemes always requires precise knowledge of the structure of the entire mechanical dynamic model.…”

Iterative Learning Tracking Control of a Hybrid-Driven Based Three-Cable Parallel Manipulator

“…As demonstrated in [22], servomechanism dynamics constitute an important component of the complete robot dynamics. Therefore, for the HDCPM, the dynamics should not only consider the CPM but also include the HDPM, which can be seen as a type of servomechanism.…”