Constrained Trajectory Tracking Control of a Mobile Robot by Limited Integrator Anti-Windup

Abstract

This brief considers the mobile robot trajectory tracking control problem with actuator saturation. Although problem has been considered in the literature, most approaches achieve stability at the expense of smooth limited functions on the controller terms, which may reduce the performance. The limited integrator anti-windup (LIAW) approach is a known solution to improve stability and performance in presence of actuator saturation. In general, to the best of the author's knowledge, this approach has not been analyzed with Lyapunov's theory and known applications seem to rely on intuition rather than on a formal study. In this brief, a proportional (P) plus LIAW scheme is proposed as solution to the constrained trajectory tracking control of mobile robots. For the first time, in this brief, a Lyapunov stability analysis is provided for the P+PIAW approach when applied to trajectory tracking control of a mobile robot. A numerical simulation comparison among a known scheme based on smooth saturation functions, the classical linear proportionalintegral controller, and the proposed P+LIAM scheme is provided. Better results are obtained for the proposed solution since the windup problem is avoided, which is very useful in practical applications.

An anti-windup control strategy for discrete time-delay system based on triple Lyapunov functional

“…The controller sends control signal to final control elements like actuator and valve for getting the desired response from the industrial systems (Valenzuela, 2021). Due to various physical limitations in terms of finite voltage and current handling capacity, saturation appears in different practical systems, causing deterioration in their performance (Wang et al, 2020; Xu et al, 2012).…”

“…In continuous time systems, the proposed designs do not explicitly address the issue of enlarging the domain of the closed-loop system stability. Hence, a discrete-time system with anti-windup is an essential topic for the researchers (Valenzuela, 2021).…”

TeCVP: A Time-Efficient Control Method for a Hexapod Wheel-Legged Robot Based on Velocity Planning

“…In addition, the mobile robot trajectory tracking control problem and the gait planning and control problem are well studied, such as the velocity vector control method [28] and the limited integrator anti-windup approach [29]. However, both problems need to be solved with one control method for wheel-legged robots to simplify the control framework.…”