Fractional order tracking control of a wheeled mobile robot

Rojas-Moreno, Arturo; Perez-Valenzuela, Gian

doi:10.1109/intercon.2017.8079683

Cited by 11 publications

(3 citation statements)

References 2 publications

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“…A series of robust FOPID controllers tuned based on the flat phase property have been used in motion control [28,29]. Moreover, in [30], an FO controller is used in the trajectory tracking task of a differential drive WMR. e experimental results show that the control performance of the FO controller is more satisfactory compared with the traditional PD controller.…”

Section: Introductionmentioning

confidence: 99%

Design, Implementation, and Validation of Robust Fractional-Order PD Controller for Wheeled Mobile Robot Trajectory Tracking

2020

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In this paper, a trajectory tracking control algorithm is proposed based on the fractional-order PD (FOPD) controller for a Wheeled Mobile Robot (WMR). Firstly, an improved flat phase property is put forward as a robust controller tuning specification. This specification is capable of guaranteeing the flatness of the phase curve in a frequency interval, so the controlled system robustness can be improved. Then, the stabilization process is discussed with respect to the parameters of the FOPD controller through a visualized 3-dimensional surface, so both the stability and robustness of the controlled system can be guaranteed under the proposed controller. Furthermore, the implementation of the proposed robust FOPD controller is presented, which makes the control algorithm easy to be realized. At last, the effectiveness of the proposed trajectory tracking control algorithm is verified by the simulation and experiment results.

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Section: Introductionmentioning

confidence: 99%

Design, Implementation, and Validation of Robust Fractional-Order PD Controller for Wheeled Mobile Robot Trajectory Tracking

2020

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“…In particular, the trajectory tracking control is a basic task to be solved for this class of robots. Recently, different strategies have been proposed to deal with this problem, such as sliding mode control (Mija et al, 2016), fault-tolerant control (Yazdjerdi and Meskin, 2017) and fractional order control (Rojas-Moreno and Perez-Valenzuela, 2017). Within this context, FLCs have also been applied in the last years, such as fuzzy-PD control (Alouache and Wu, 2018) and optimized FLC with Particle Swarm Optimization (Nurmaini and Setianingsih, 2018).…”

Section: Introductionmentioning

confidence: 99%

Real-Time Mamdani-type Fuzzy Maneuvering Control of a Differential-Drive Mobile Robot

Ushikoshi

Cardoso

Coutinho

et al. 2019

Anais Do 14º Simpósio Brasileiro De Automação Inteligente

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This paper concerns the real-time application of Mamdani-type Fuzzy Logic Controllers (FLCs) for maneuvering trajectory tracking of a differential-drive mobile robot, the Quanser QBot 2. Based on a recent fuzzy control strategy that allows the robot to move in both forward and backward directions (FB-Controller), a new FLC with sigmoidal and pi-shaped input membership functions is proposed, the FBm-Controller. The aim of this modification is providing smoother movements during the trajectory tracking, improving real-time performance. The proposal is compared with the FB-Controller and F-Controller, where the latter only allows forward movements. Simulations and real-time experiments performed on QBot 2 robot illustrate the advantages of FBm-Controller over the two other approaches.

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“…Accurate trajectory control is vital issue for the efficient operation of a given robotic application. For this reason, a large number of control methods have been applied in the literature for various types of robotic systems, such as, H infinity control [2], neural network control [3], [4], adaptive fuzzy control [5], [6] and fractional order control [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot

Dumlu

Yıldırım²

2018

Balkan Journal of Electrical and Computer Engineering

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In this study, real-time trajectory tracking control of an autonomous mobile robot has been designed, analyzed and studied. Two control techniques such as the proportionalintegral-derivative (PID) control and model based sliding mode control (SMC) have been considered to increase the tracking performance of the mobile robot. Firstly, kinematic and dynamic analysis of the system have been obtained and then this dynamic model has been used for proposed sliding mode controller in order to increase trajectory tracking performance of the system. The experimental outcomes strongly verified that the proposed controller gives a quite well trajectory tracking response and smaller magnitude overshot compared with the classical PID controller. . His work has focused on the development and application of control theory to a variety of mechatronic systems, with a focus on observation and estimation-based control. Much of his recent work has focused on the analysis and control of dynamical systems that arise in engineering applications. His areas of interest also include fuzzy logic and fuzzy control, neural networks, genetic algorithms, and their applications to dynamic systems and electrical engineering. Erzurum, Turkey, in 1990. He received the B.S. degree from Ataturk University, Erzurum, Turkey, in 2013 and he is currently working toward the M.S. degree. His research interests include the theory of mechatronic and robotic systems, with a focus on observation and estimation-based control. MEHMET RASİM YILDIRIM was born in

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Fractional order tracking control of a wheeled mobile robot

Cited by 11 publications

References 2 publications

Design, Implementation, and Validation of Robust Fractional-Order PD Controller for Wheeled Mobile Robot Trajectory Tracking

Design, Implementation, and Validation of Robust Fractional-Order PD Controller for Wheeled Mobile Robot Trajectory Tracking

Real-Time Mamdani-type Fuzzy Maneuvering Control of a Differential-Drive Mobile Robot

Real-Time Implementation of Continuous Model Based Sliding Mode Control Technique for Trajectory Tracking Control of Mobile Robot

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