Adaptive robust time-varying control of uncertain non-holonomic robotic systems

Shojaei, Khoshnam; Shahri, Alireza Mohammad

doi:10.1049/iet-cta.2010.0655

Cited by 46 publications

(38 citation statements)

References 19 publications

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“…Substituting the expression of ω in (20) into (38), and using (36) and (39), as well as the factθ e tends to zero, we have…”

Section: B Stability Analysismentioning

confidence: 99%

“…Because α tends to zero, we have lim t →∞ f 1 (t) = lim t →∞ (cos α)(t) = 1 using (37), then (36) gives…”

Section: B Stability Analysismentioning

confidence: 99%

“…In general, this problem is easier than point stabilization, and various feedback solutions have been proposed. Solutions for trajectory tracking of mobile robot were introduced in [24]- [28], and [29]- [36] to cover a broader class of nonholonomic systems in chained form. To achieve asymptotic tracking, these controllers usually rely on some persistent excitation (PE) conditions upon the reference trajectory.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Simultaneous Stabilization and Tracking of Nonholonomic Mobile Robots: A Lyapunov-Based Approach

Wang

Miao

Zhong

et al. 2015

IEEE Trans. Contr. Syst. Technol.

144

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A smooth time-varying controller is proposed to simultaneously address the stabilization and tracking problems of nonholonomic mobile robots for most admissible reference trajectories without switching. The controller is developed with the aid of a delicately designed time-varying signal and Lyapunov method. Computational simplification and asymptotic convergence of regulation or tracking errors are achieved by the proposed controller. Our approach provides an interesting way to unify the existing results on point stabilization and trajectory tracking of mobile robots. The simulation and experimental results on a wheeled mobile robot are presented to demonstrate the effectiveness of the proposed controller.Index Terms-Lyapunov method, mobile robots, nonholonomic systems, stabilization and tracking, time-varying feedback. 1063-6536

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“…Substituting the expression of ω in (20) into (38), and using (36) and (39), as well as the factθ e tends to zero, we have…”

Section: B Stability Analysismentioning

confidence: 99%

“…Because α tends to zero, we have lim t →∞ f 1 (t) = lim t →∞ (cos α)(t) = 1 using (37), then (36) gives…”

Section: B Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Simultaneous Stabilization and Tracking of Nonholonomic Mobile Robots: A Lyapunov-Based Approach

Wang

Miao

Zhong

et al. 2015

IEEE Trans. Contr. Syst. Technol.

144

View full text Add to dashboard Cite

show abstract

“…To address the tracking control problem of mobile robots, valuable classic control approaches have been presented, such as sliding mode control [1][2][3], adaptive control [4,5], robust control [6], adaptive sliding mode control [7], robust PID control [8] and adaptive robust control [9]. Alternatively, intelligent control has become an interesting topic for controlling complex systems by function approximation or obtaining rules from the experts knowledge using some powerful tools such as fuzzy logic, neural networks and intelligent algorithms.…”

Section: Introductionmentioning

confidence: 99%

Application of the Udwadia–Kalaba approach to tracking control of mobile robots

et al. 2015

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Udwadia-Kalaba approach which presents a new, general and explicit equation of motion for constrained mechanical systems with holonomic or nonholonomic constraints is applied to the trajectory tracking control of the mobile robot in this paper. Unlike any other nonlinear control methods, the inspiration for this methodology which does not make any linearization or approximations comes from a different, though closely allied, field, namely analytical dynamics. The control torques required to control the mobile robot so that it precisely satisfies the trajectory requirements which are represented by an arbitrary (sufficiently smooth) function of time are obtained explicitly and in closed form by solving Udwadia-Kalaba equation. Numerical simulations are performed to show the simplicity, efficacy and accuracy of this closed-form method.

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“…Recently, some authors have proposed global adaptive tracking controllers for dynamics non-holonomic systems in presence of uncertainties. 17,18 A disadvantage of these controllers is the use of over-lengthy and repeated differentiation of virtual controls that limit their practical usage.…”

Section: Introductionmentioning

confidence: 99%

Robust output feedback control for the trajectory tracking of robotic wheelchairs

et al. 2014

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This paper addresses the trajectory tracking control problem of robotic wheelchairs in the presence of modeling uncertainties. The controller has been designed using position and angular measurements. A global ultra-model, or simplified model achieved from flatness considerations is proposed first. This model highly reduces the design complexity of the state estimation and the output feedback control tasks since it groups, as an unknown time-varying disturbance, both the combined effects of all uncertain state-dependent (i.e., endogenous) nonlinearities and those of external (i.e., exogenous) perturbation inputs which are present in the input-to-flat output model of the system. An extended linear high-gain observer, or Generalized Proportional Integral (GPI) observer, is then developed for the simultaneous, though approximate, state and disturbance estimation. The proposed feedback controller combines the global ultra-model and the GPI observers to conform an active disturbance rejection, or disturbance accommodation, control scheme. The simulation results presented in the paper show that the proposed method has a very good tracking performance and robustness in the presence of system uncertainties, external disturbances and noisy corruptions.

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Adaptive robust time-varying control of uncertain non-holonomic robotic systems

Cited by 46 publications

References 19 publications

Simultaneous Stabilization and Tracking of Nonholonomic Mobile Robots: A Lyapunov-Based Approach

Simultaneous Stabilization and Tracking of Nonholonomic Mobile Robots: A Lyapunov-Based Approach

Application of the Udwadia–Kalaba approach to tracking control of mobile robots

Robust output feedback control for the trajectory tracking of robotic wheelchairs

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