Robust-flatness Controller Design for a Differentially Driven Wheeled Mobile Robot

Boubezoula, Mabrouk; Hassam, A.; Boutalbi, Oussama

doi:10.1007/s12555-017-0408-4

Cited by 9 publications

(5 citation statements)

References 19 publications

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“…Usually, a mobile robot is presented in a Cartesian 2D frame with its coordinates, such as position coordinates ‫,ݔ(‬ ‫)ݕ‬ and its orientation ߠ [17]. In this study, a kinematic model is considered, taking into account linear and angular velocities for both leader and follower mobile robots, and a controller for each one is designed.…”

Section: Multi Mobile Robot Modeling and Controlmentioning

confidence: 99%

Design and Study of an Adaptive Fuzzy Logic-Based Controller for Wheeled Mobile Robots Implemented in the Leader-Follower Formation Approach

Medjoubi

Abdessemed

Hassam

2021

Eng. Technol. Appl. Sci. Res.

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This paper presents a new design of an adaptive fuzzy logic control by implementing the leader-follower approach. The principle is to modify the feedback control of non-holonomic Wheeled Mobile Robot (WMR) to be adaptive according to a fuzzy controller in the control loop, in order to adjust the feedback control gains according to the distance error between the reference path and the real position. The trajectory tracking control for a single WMR is extended to the formation control for two WMRs in which the first one is the leader and the second is the follower. Simulation results are presented to demonstrate the effectiveness of the proposed controller.

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Section: Multi Mobile Robot Modeling and Controlmentioning

confidence: 99%

Design and Study of an Adaptive Fuzzy Logic-Based Controller for Wheeled Mobile Robots Implemented in the Leader-Follower Formation Approach

Medjoubi

Abdessemed

Hassam

2021

Eng. Technol. Appl. Sci. Res.

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“…The theoretical justification behind this affirmation is the following. Defining e i = i a − i * a to represent the electric current error in any of the two motors, adding and subtracting some convenient terms, and using the Laplace transform with zero initial conditions, it is found that the feedback connection of Equations (16) and (18) results in…”

Section: Medium-level Controlmentioning

confidence: 99%

“…A sliding mode control (SMC) with double control loop was reported by Seo et al in [ 17 ]. Boubezoula et al in [ 18 ] designed a SMC for the flat outputs of the DDWMR and by proposing an adaptive gain discontinuous control law a zero error convergence is achieved. On the other hand, Miao et al in [ 19 ] introduced a leader-follower control strategy based on a distributed estimation law for each follower, with the aim of estimating the vector state of the leader, and a distributed formation control law that uses the estimated information of the followers and the formation error.…”

Section: Introductionmentioning

confidence: 99%

A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment

García-Sánchez

Tavera-Mosqueda

Silva‐Ortigoza

et al. 2020

Sensors

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In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dynamic control for the WMR (differential drive type). At the medium level is a PI current control for the actuators (DC motors). Lastly, at the low level is a differential flatness-based control for the power stage (DC/DC Buck power converters). The feasibility, robustness, and performance in closed-loop of the proposed controller are validated on a DDWMR prototype through Matlab-Simulink, the real-time interface ControlDesk, and a DS1104 board. The obtained results are experimentally assessed with a hierarchical tracking controller, recently reported in literature, that was also designed on the basis of the mechanical structure, actuators, and power stage subsystems. Although both controllers are robust when parametric disturbances are taken into account, the dynamic three-level tracking controller presented in this paper is better than the hierarchical tracking controller reported in literature.

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“…In [5], a discontinuous controller for a non-holonomic mobile robot subject to disturbances was developed. The flatness approach was used in [6] to approach the motion control of differentially driven wheeled mobile robots. The design of a robust discontinuous controller using a nonlinear state transformation was provided in [7].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots

Moreno,

Slawiñski,

Chicaiza

et al. 2023

Machines

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This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. By assuming that the desired velocity in the body frame is persistently exciting, the uniform bound of the tracking error in earth coordinates is ensured. A simulation study using practical mobile robot parameters shows the viability of the introduced approach. In addition, two known trajectory tracking controllers are simulated in order to compare the performance of the proposed technique. Better tracking accuracy is obtained with the proposed control approach, even if uncertainties in the knowledge of the friction coefficients are presented.

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Robust-flatness Controller Design for a Differentially Driven Wheeled Mobile Robot

Cited by 9 publications

References 19 publications

Design and Study of an Adaptive Fuzzy Logic-Based Controller for Wheeled Mobile Robots Implemented in the Leader-Follower Formation Approach

Design and Study of an Adaptive Fuzzy Logic-Based Controller for Wheeled Mobile Robots Implemented in the Leader-Follower Formation Approach

A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment

Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots

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