Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

Gao, Xiaoshan; Yan, Liang; Gerada, Chris

doi:10.3390/act10090222

Cited by 22 publications

(12 citation statements)

References 28 publications

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“…In addition, from (11), q2 is bounded, which means that ( 9) and ( 10) are uniformly continuous. So, combined with (12), regardless of the values of the parameters, the active link can always converge to its end state along the designed trajectory (9) when t → ∞.…”

Section: Trajectory Planningmentioning

confidence: 99%

“…Its control problem can be defined as: designing an appropriate controller to move the VUM system from the downward initial position (DIP) and steady it at the upward target position (UTP) [11]. Because the VUM is a second-order nonholonomic system [12], the relationship between the angular velocities and the angles of the links cannot be obtained by direct integration. In addition, the dynamic model of this system does not meet the Brockett's criteria [13,14], making it difficult to design a smooth state feedback controller to accomplish its control goal [15].…”

Section: Introductionmentioning

confidence: 99%

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A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot

et al. 2021

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This paper presents a simple control method on the basis of the trajectory planning for vertical Acrobot to accomplish the control goal of moving the system from the downward initial position (DIP) and steadying the system at the upward target position (UTP). First, for the active link, we frame a trajectory that contains some adjustable parameters. Along the framed trajectory, we can make the active link stabilize at its end angle from its start angle. Furthermore, we change the trajectory parameters to make the passive link also arrive at the zone near the end angle. Next, we devise a PD-based tracking controller to track this planned trajectory. In this way, the vertical Acrobot is swung up to a small zone near the UTP. Then, from the approximate linear model at the UTP, we devise a stabilization controller to stabilize the vertical Acrobot at the UTP. Finally, we implement the simulation to show the validity of the proposed method.

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Section: Trajectory Planningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot

et al. 2021

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“…For example, in the literature [14], a sliding mode observer (SMO) is used to estimate the lumped disturbance in the WMR dynamics model due to side-slipping, skidding, and uncertain parameters. In the literature [15] a nonlinear observer was designed to estimate a lumped disturbance due to side-slipping and skidding. The same idea can be found in the literatures [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Adaptive ground and water surface control for cross-domain robots based on adaptive finite-time convergence sliding mode observer

Wang

Liu

Huang

2023

Preprint

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The non-holonomic constraints cross-domain robot (CDR) is unable to follow the desired trajectory when moving on the ground or water surface due to the lateral side-slipping. Thus, an adaptive positionattitude controller is proposed in this paper to re-plan the robot’s angular velocity and linear velocity. To achieve adaptive control of the robot on the water surface and ground, an adaptive finite-time convergence sliding mode observer (AFSMO) is proposed. This observer is used to obtain time-varying and unknown lumped disturbance which includes uncertain dynamics parameters and environmental disturbances. An adaptive law is designed to improve observer accuracy and reduce output chattering. FSMO is also used to obtain the performance parameter to prevent driver saturation when the robot moves on the water surface. The performance parameter limits the maximum angular velocity and linear velocity. Simulation results demonstrate the effectiveness of the proposed control methods.

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“…In contrast, in order to mitigate this difficulty, several types of controllers have been proposed, such as time-varying control laws, discontinuous control laws, and their respective hybrid control versions [5,24]. Nevertheless, the techniques for trajectory control have been based on linearization techniques for local controlling [25,26,27,28] or techniques of nonlinear state feedback with singular parameters [29,20,17] without taking into account the error propagation on closed-loop control scheme due to the flexibility. To this end, previous works of the author have shown the relevant role of the flexibility at each stage of the control scheme, it is the case of the controller based on the DCSV approach2 to find suitable tunning of the parameters of an auxiliary control law on the outer loop according to the flexibility parameter ε [6,31,32,30].…”

Section: Introductionmentioning

confidence: 99%

Oriented manifold-based error tracking control for nonholonomic wheeled autonomous vehicles on Lie group for curvilinear approach

Fernández¹

2021

Lat. Americ. J. of Develop.

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This paper considers the trajectory tracking control of wheeled autonomous vehicles (WAV) with slipping in the wheels, i.e., when the kinematic constraints are not satisfied. Usually, the coordinates system used to represent all control problems suggest invariant subspaces mutually orthogonal, but this approach can not be enough to treat curvatures significative large at different navigation speed. In order to get a slight im- provement on this topic, there are previous works showing that the kinematic problem (commonly associated with an outer loop) can be resynthesized by using other invariant subspaces, i.e., another representation of the configuration space. For this reason, the proposal reported here uses an oriented-manifold parametrized by a coordinate system on a curve viewpoint of the trajectory to describe the kinematic problem, however, the dynamic control law remains faithful to the singular perturbation approach with invariant subspaces mutually orthogonal, thus, it is possible to include the flexibility through a small factor in the dynamic model (well-known as ε), responsible to avoid the good-performance of the kinematic constraints. Only a common curvature-transformation between orthogonal and curve coordinates will be used to couple both approaches. Finally, it will be observed that when the controller is applied to the control scheme the behavior of the tracking is meaningfully improved.

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Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

Cited by 22 publications

References 28 publications

A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot

A Simple Control Strategy Based on Trajectory Planning for Vertical Acrobot

Adaptive ground and water surface control for cross-domain robots based on adaptive finite-time convergence sliding mode observer

Oriented manifold-based error tracking control for nonholonomic wheeled autonomous vehicles on Lie group for curvilinear approach

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