Passivity-based control of an omnidirectional mobile robot

Ren, Chao; Sun, Yi; Ma, Shugen

doi:10.1186/s40638-016-0037-z

Cited by 11 publications

(7 citation statements)

References 23 publications

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“…One can see from Table 1 that the lowest ISI value corresponds to the controller (3.16), (3.17), (4.5). Thus, the comparative analysis has confirmed that the proposed controller (3.16), (3.17), (4.5) provides better performance than that of [24]. Compare also the performances of the controller (3.16)- (3.17) and that obtained in [6] and expressed as follows:…”

supporting

confidence: 58%

“…7. In order to compare the performances, the simulation tests were also performed with the "PD+" like controller proposed in [24] for a simpler robot model: (2) ),…”

Section: Numerical Resultsmentioning

confidence: 99%

“…Note that the structure of the controller (3.1), (3.2) is similar to that proposed in [21] for robotic manipulators. This control structure was used in [24] for a simpler model of an omnidirectional mobile robot where the mass center of the platform coincides with its geometrical center. 123…”

Section: The Unbounded Controller Designmentioning

confidence: 99%

“…In [3,4] both the position stabilization and trajectory tracking control problems were solved using Lyapunov function method. In [24], the passivity-based controller based on "PD+" approach was proposed to solve the global trajectory tracking control problem using only position measurements. Many researchers applied the model-predictive control design to solve the trajectory tracking problem [8,26,29].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass

Andreev¹,

Peregudova²

2020

Nelin. Dinam.

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This paper addresses the trajectory tracking control design of an omnidirectional mobile robot with a center of mass displaced from the geometrical center of the robot platform. Due to the high maneuverability provided by omniwheels, such robots are widely used in industry to transport loads in narrow spaces. As a rule, the center of mass of the load does not coincide with the geometric center of the robot platform. This makes the trajectory tracking control problem of a robot with a displaced center of mass relevant. In this paper, two controllers are constructed that solve the problem of global trajectory tracking control of the robot. The controllers are designed based on the Lyapunov function method. The main difficulty in applying the Lyapunov function method for the trajectory tracking control problem of the robot is that the time derivative of the Lyapunov function is not definite negative, but only semidefinite negative. Moreover, the LaSalle invariance principle is not applicable in this case since the closed-loop system is a nonautonomous system of differential equations. In this paper, it is shown that the quasi-invariance principle for nonautonomous systems of differential equations is much convenient for the asymptotic stability analysis of the closed-loop system. Firstly, we construct an unbounded state feedback controller such as proportional-derivative term plus feedforward. As a result, the global uniform asymptotic stability property of the origin of the closed-loop system has been proved. Secondly, we find that, if the damping forces of the robot are large enough, then the saturated position output feedback controller solves the global trajectory tracking control problem without velocity measurements. The effectiveness of the proposed controllers has been verified through simulation tests. Namely, a comparative analysis of the bounded controller obtained and the well-known "PD+" like control scheme is carried out. It is shown that the approach proposed in this paper saves energy for control inputs. A. S. Andreev, O. A. PeregudovaBesides, a comparative analysis of the bounded controller and its analogue constructed earlier in a cylindrical phase space is carried out. It is shown that the controller provides lower values for the root mean square error of the position and velocity of the closed-loop system.

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supporting

confidence: 58%

“…7. In order to compare the performances, the simulation tests were also performed with the "PD+" like controller proposed in [24] for a simpler robot model: (2) ),…”

Section: Numerical Resultsmentioning

confidence: 99%

Section: The Unbounded Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass

Andreev¹,

Peregudova²

2020

Nelin. Dinam.

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“…The system output is given by the pose of the mobile robot (26). It is important to note that even with the inclusion of the anti-windup block to the single neuron architecture (25), the computed control signal is bounded, then such control signal designed for a dynamic system, such as the one for the mobile robot (15) is a feed forward neural control law, which composes a stable system [57][58][59].…”

Section: Control Scheme Using the Adaptive Single Neuron Pid Controllermentioning

confidence: 99%

Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

et al. 2020

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In this paper, an adaptive single neuron Proportional–Integral–Derivative (PID) controller based on the extended Kalman filter (EKF) training algorithm is proposed. The use of EKF training allows online training with faster learning and convergence speeds than backpropagation training method. Moreover, the propose adaptive PID approach includes a back-calculation anti-windup scheme to deal with windup effects, which is a common problem in PID controllers. The performance of the proposed approach is shown by presenting both simulation and experimental tests, giving results that are comparable to similar and more complex implementations. Tests are performed for a four wheeled omnidirectional mobile robot. Tests show the superiority of the proposed adaptive PID controller over the conventional PID and other adaptive neural PID approaches. Experimental tests are performed on a KUKA® Youbot® omnidirectional platform.

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Adaptive robust maneuvering control for nonlinear systems via dynamic surface technique

Cui

Wu²

2023

Nonlinear Dyn

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Passivity-based control of an omnidirectional mobile robot

Cited by 11 publications

References 23 publications

On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass

On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass

Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

Adaptive robust maneuvering control for nonlinear systems via dynamic surface technique

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