Robust Nonlinear Control of a Mobile Robot

Zidani, Ghania; Drid, Saïd; Chrifi‐Alaoui, Larbi; Arar, Djemaï; Bussy, P.

doi:10.5370/jeet.2016.11.4.1012

Cited by 6 publications

(3 citation statements)

References 8 publications

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“…Inputs are chosen to be linear velocity of body and angular velocity (10) as rate of change of steering angle (11) and can be written as:…”

Section: Figure 1 Kinematic Rear Wheel Reference Bicycle Modelmentioning

confidence: 99%

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LQR ve Lyapunov temelli iki kontrolcünün kinematik bisiklet tipi model için güzergah izleme performansı karşılaştırması

CEYHUN¹,

Goren²

2022

Uluslararası Teknolojik Bilimler Dergisi

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This paper focuses on comparative results of two different controllers applied to kinematic bicycle model with rear wheel contact point to the ground as the reference point. The wide range of representation of different types of robots and vehicles of kinematic bicycle model is the main reason for this model selection. This paper has three main sections. The first section of the paper is mathematical modeling of the model. The second section is describing the utilized control techniques. The last section shares results of the simulations. The simulations have been carried out with pure feedback signals in absence of noise. The compared two controllers are an (Linear Quadratic Regulator)LQR controller and a Lyapunov based controller. The objective in the simulations is to track and complete a given constant radius trajectory. Last section includes comparison of results by analyzing statistical values of a defined error signal.

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“…Inputs are chosen to be linear velocity of body and angular velocity (10) as rate of change of steering angle (11) and can be written as:…”

Section: Figure 1 Kinematic Rear Wheel Reference Bicycle Modelmentioning

confidence: 99%

“…In [10] a 3-dimensional state space system is considered under Lyapunov conditions. Dynamic model is utilized for the related study.…”

Section: Introductionmentioning

confidence: 99%

LQR ve Lyapunov temelli iki kontrolcünün kinematik bisiklet tipi model için güzergah izleme performansı karşılaştırması

CEYHUN¹,

Goren²

2022

Uluslararası Teknolojik Bilimler Dergisi

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“…Robot manipulators are highly nonlinear, coupled, complex systems [1,2]. The tracking control of robot manipulators is one of the most challenging problems for control engineers.…”

Section: Introductionmentioning

confidence: 99%

Control of Robot Manipulators Using Time-Delay Estimation and Fuzzy Logic Systems

Bae¹,

Jin²,

Suh³

et al. 2017

Journal of Electrical Engineering and Technology

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-A highly accurate model-free controller is proposed for trajectory tracking control of robot manipulators. The proposed controller incorporates time-delay estimation (TDE) to estimate and cancel continuous nonlinearities of robot dynamics, and exploits fuzzy logic systems to suppress the effect of the TDE error, which is due to discontinuous nonlinearities such as friction. To this end, integral sliding mode is defined using desired error dynamics, and a Mamdani-type fuzzy inference system is constructed. As a result, the proposed controller achieves the desired error dynamics well. Implementation of the proposed controller is easy because the design of the controller is intuitive and straightforward, and calculations of the complex robot dynamics are not required. The tracking performance of the proposed controller is verified experimentally using a 3-degree of freedom PUMAtype robot manipulator.

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