Robust adaptive controller for wheel mobile robot with disturbances and wheel slips

Vu, Nga Thi-Thuy; Ong, Loc Xuan; Trinh, Nam Hai; Pham, Sen Thi Huong

doi:10.11591/ijece.v11i1.pp336-346

Cited by 6 publications

(8 citation statements)

References 22 publications

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“…𝜇 𝑅 and 𝜇 𝐿 represent longitudinal slip of the right and left wheels, while 𝛿 represents the the lateral slip along the wheel shaft. Taking the effect of wheel slip into account, the kinematic equation for WMR is [17], [18]:…”

Section: System Modellingmentioning

confidence: 99%

“…where 𝛽 is the linear velocity perpendicular to the axis joining the two rear wheels and 𝜛 is angular velocity of the WMR. The dynamic model of the WMR is as (2) [17], [18]:…”

Section: System Modellingmentioning

confidence: 99%

“…In [15], [16], the friction and wheel slip components are included in the robot's kinematics and dynamics models, and then robust controllers for tracking control are established. Vu et al [17] presents an adaptive control method based on a disturbance estimator that can compensate for the effects of wheel slip and external disturbances acting on both kinematic and dynamic loops. Similar control structures for uncertain WMR with kinematic and dynamic control loops are presented in [18].…”

Section: Introductionmentioning

confidence: 99%

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Robust optimal control for uncertain wheeled mobile robot based on reinforcement learning: ADP approach

Doan,

Thi-Thuy Vu

2024

Bulletin EEI

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This paper presents a robust optimal control approach for the wheel mobile robot system, which considers the effects of external disturbances, uncertainties, and wheel slipping. The proposed method utilizes an adaptive dynamic programming (ADP) technique in conjunction with a disturbance observer. Initially, the system's state space model is formulated through the utilization of kinematic and dynamic models. Subsequently, the ADP method is employed to establish an online adaptive optimal controller, which solely relies on a single neural network for the purpose of function approximation. The utilization of the disturbance observer in conjunction with the compensation controller serves to alleviate the effects of disturbances. The Lyapunov theorem establishes the stability of the complete closed-loop system and the convergence of the weights of the neural network. The proposed approach has been shown to be effective through simulation under the effect of the disturbances and the change of the desired trajectory.

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Section: System Modellingmentioning

confidence: 99%

“…where 𝛽 is the linear velocity perpendicular to the axis joining the two rear wheels and 𝜛 is angular velocity of the WMR. The dynamic model of the WMR is as (2) [17], [18]:…”

Section: System Modellingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust optimal control for uncertain wheeled mobile robot based on reinforcement learning: ADP approach

Doan,

Thi-Thuy Vu

2024

Bulletin EEI

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“…Figure 1 is the block diagram of the system. In considering to the wheel slips and input disturbance, the kinematic and dynamic of the WMR in the coordinate of Figure 1 is expressed as (1) and (2) [29], [30]:…”

Section: Adaptive Sliding Mode Controller Design For Wmrs 21 Modellin...mentioning

confidence: 99%

Adaptive sliding mode control for uncertain wheel mobile robot

Doan¹,

2023

IJECE

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<span lang="EN-US">In this paper a simple adaptive sliding mode controller is proposed for tracking control of the wheel mobile robot (WMR) systems. The WMR are complicated systems with kinematic and dynamic model so the error dynamic model is built to simplify the mathematical model. The sliding mode control then is designed for this error model with the adaptive law to compensate for the mismatched. The proposed control scheme in this work contains only one control loop so it is simple in both implementation and mathematical calculation. Moreover, the requirement of upper bounds of disturbance that is popular in the sliding mode control is cancelled, so it is convenient for real world applications. Finally, the effectiveness of the presented algorithm is verified through mathematical proof and simulations. The comparison with the existing work is also executed to evaluate the correction of the introduced adaptive sliding mode controller. Thoroughly, the settling time, the peak value, the integral square error of the proposed control scheme reduced about 50% in comparison with the compared disturbance observer based sliding mode control.</span>

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“…Passive fault tolerance control studies are carried out by many researchers to diagnose the slippage and to eliminate the negative effect of the slippage on the movement of the robot. In a work achieved by Vu et al (2021), observer-based adaptive control is developed to reduce the effect of wheel slippage on robot's movement. In high acceleration required applications (i. e. soccer robots), the effect of increased slippage on the performance of the robot increases.…”

Section: Introductionmentioning

confidence: 99%

Model-based detection and isolation of the wheel slippage and actuator faults of a holonomic mobile robot

Şahin

Dede

2022

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Purpose Mobile robots may perform very critical tasks under difficult operating conditions. Faults encountered during their tasks may cause the task to be interrupted or failed completely. In the active fault tolerant control methods, it is very important not only to detect the faults that occur in the robot, but also to isolate these faults to develop a fault recovery strategy that is suitable for that specific type of fault. This study aims to develop a model-based fault detection and isolation method for wheel slippage and motor performance degradation that may occur in wheeled mobile robots. Design/methodology/approach In the proposed method, wheel speeds can be estimated via the dynamic model of the mobile robot, which includes a friction model between the wheel and the ground. Four residual signals are obtained from the differences between the estimated states and the measured states of the mobile robot. Mobile robot’s faults are detected by using these signals. Also, two different residual signals are generated from the calculation of the traction forces with two different procedures. These six residual signals are then used to isolate possible wheel slippage and performance degradation in a motor. Findings The proposed method for diagnosing wheel slip and performance degradation in motors are tested by moving the robot in various directions. According to the data obtained from the test results, a logic table is created to isolate these two faults from each other. Thanks to the created logic table, slippage in any wheel and performance degradation in any motor can be detected and isolated. Originality/value Two different recovery strategies are needed to recover temporary wheel slippage and permanent motor faults. Therefore, it is important to isolate these two faults that create similar symptoms in robot’s general movement. Thanks to the method proposed in this study, it is not only possible to isolate the slipping wheel with respect to the non-slipping wheels or to isolate the faulty motor from the non-faulty ones, but also to isolate these two different fault types from each other.

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Robust adaptive controller for wheel mobile robot with disturbances and wheel slips

Cited by 6 publications

References 22 publications

Robust optimal control for uncertain wheeled mobile robot based on reinforcement learning: ADP approach

Robust optimal control for uncertain wheeled mobile robot based on reinforcement learning: ADP approach

Adaptive sliding mode control for uncertain wheel mobile robot

Model-based detection and isolation of the wheel slippage and actuator faults of a holonomic mobile robot

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