Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach

Published on Jan 19, 2012in Iet Control Theory and Applications3.527
· DOI :10.1049/IET-CTA.2011.0169
Khoshnam Shojaei20
Estimated H-index: 20
(IUST: Iran University of Science and Technology),
Alireza Mohammad Shahri12
Estimated H-index: 12
(IUST: Iran University of Science and Technology)
Sources
Abstract
This study addresses the trajectory tracking control problem of electrically driven wheeled mobile robots under non-holonomic constraints in the presence of model uncertainties without velocity measurement. By defining a suitable set of output equations, a new input–output model of wheeled mobile robots is developed, which helps the designer utilise the classic control algorithms of robot manipulators. An observer-based trajectory tracking controller is proposed for the new wheeled mobile robot (WMR) model. Then, in order to reduce the design complexity, the dynamic surface control approach is effectively exploited to propose a tracking controller considering the actuator dynamics. Adaptive robust techniques are also adopted to cope with the parametric and non-parametric uncertainties in the WMR model. A Lyapunov-based stability analysis is utilised to guarantee that tracking and state estimation errors are uniformly ultimately bounded. Simulation results are presented to illustrate the feasibility and efficiency of the proposed controller.
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References38
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#1Khoshnam Shojaei (IUST: Iran University of Science and Technology)H-Index: 20
#2Alireza Mohammad Shahri (IUST: Iran University of Science and Technology)H-Index: 12
Last. Behzad Tabibian (IUST: Iran University of Science and Technology)H-Index: 8
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This paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive co...
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In this study, the authors propose an adaptive output-feedback controller for trajectory tracking of electrically driven non-holonomic mobile robots in the presence of parametric uncertainties. A new adaptive observer using the transformation matrices is developed to estimate the unmeasured velocities of the mobile robot. By using the transformation matrices, the designed adaptive observer can deal with quadratic velocity terms caused by the Coriolis matrix in the mobile robot dynamics as well a...
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#1Khoshnam Shojaei (IUST: Iran University of Science and Technology)H-Index: 20
#2Alireza Mohammad Shahri (IUST: Iran University of Science and Technology)H-Index: 12
Last. Ahmadreza Tarakameh (IUST: Iran University of Science and Technology)H-Index: 3
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In this paper, the integrated kinematic and dynamic trajectory tracking control problem of wheeled mobile robots (WMRs) is addressed. An adaptive robust tracking controller for WMRs is proposed to cope with both parametric and nonparametric uncertainties in the robot model. At first, an adaptive nonlinear control law is designed based on input-output feedback linearization technique to get asymptotically exact cancellation of the parametric uncertainty in the WMR parameters. The designed adaptiv...
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#1H.C. ChoH-Index: 1
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The authors present a robust adaptive control approach using model reference adaptive control (MRAC) for autonomous robot systems with random friction. First, a non-linear model of the robot system is approximated by feedback linearisation to derive a nominal control law. Next, a least square observer is constructed for the online estimation of friction dynamics. The authors derive a perturbed system model governing the friction estimation error and design an MRAC control to mitigate its effect....
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#1Dongkyoung Chwa (Ajou University)H-Index: 25
This paper proposes a tracking control method for differential-drive wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. Unlike previous backstepping controllers for wheeled mobile robots, a backstepping-like feedback control structure is proposed in the form of a cascaded kinematic and dynamic linearization to have a simpler and modular control structure. First, the pseudo commands for the forward linear velocity and the heading direction ang...
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This study presents an adaptive tracking control approach for trajectory tracking of wheeled mobile robots with torque saturation in the presence of unknown skidding and slipping. The robot kinematics and dynamics are induced from the perturbed non-holonomic constraints. The adaptive control system using the kinematics transformed in polar coordinates is developed to compensate unknown skidding and slipping at the dynamic level of mobile robots with the input saturation. All signals of the contr...
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Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics ar...
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#2An-Min ZouH-Index: 23
#3Long Cheng (CAS: Chinese Academy of Sciences)H-Index: 38
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This paper investigates the tracking control of an electrically driven nonholonomic mobile robot with model uncertainties in the robot kinematics, the robot dynamics, and the wheel actuator dynamics. A robust adaptive controller is proposed with the utilization of adaptive control, backstepping and fuzzy logic techniques. The proposed control scheme employs the adaptive control approach to design an auxiliary wheel velocity controller to make the tracking error as small as possible in considerat...
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#1Chih-Yang Chen (NCKU: National Cheng Kung University)H-Index: 8
#2Tzuu-Hseng S. Li (NCKU: National Cheng Kung University)H-Index: 28
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This paper designs an adaptive sliding-mode dynamic controller for wheeled mobile robots to implement the trajectory-tracking mission. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, although the wheeled mobile robot is even with system uncertainties and disturbances. The convergence of the complete equations of mot...
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#1Felipe Nascimento Martins (UFES: Universidade Federal do Espírito Santo)H-Index: 9
#2Wanderley Cardoso Celeste (UFES: Universidade Federal do Espírito Santo)H-Index: 10
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This paper proposes an adaptive controller to guide an unicycle-like mobile robot during trajectory tracking. Initially, the desired values of the linear and angular velocities are generated, considering only the kinematic model of the robot. Next, such values are processed to compensate for the robot dynamics, thus generating the commands of linear and angular velocities delivered to the robot actuators. The parameters characterizing the robot dynamics are updated on-line, thus providing smalle...
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Motion control of wheeled mobile robots with state constraints under slipping condition faces many difficulties, such as unmeasurable velocities, non-holonomic kinematic model, and unknown disturbances. Aiming at these problems, an adaptive fuzzy controller is proposed in this paper. Firstly, a fuzzy state observer is developed to estimate the velocity and compensate the unknown complex system model. Then, a output vector is designed to convert the position constraint to output constraints, and ...
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#1Yan Zhao (Shandong jianzhu university 山東建築大學)H-Index: 5
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In this article, we investigate the global robust stabilisation problem for a class of uncertain chained-form non-holonomic systems. Three types of uncertainties are taken into account, including d...
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This study proposes an extended state observer-based sliding mode control (ESO-SMC) strategy for trajectory tracking of a four mecanum wheeled mobile platform (FMWMP) with unknown disturbances and model uncertainties (UDMU) considered. Especially, the extended state observer (ESO) is designed to estimate not only the UDMU but also the unmeasured velocities of FMWMP. Based on the designed ESO, a sliding mode control (SMC) scheme is utilised to ensure the tracking performance as expected. By using...
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In this work, a nonlinear model predictive control (NMPC) strategy is presented for trajectory tracking of nonholonomic wheeled mobile robots (WMR). The problem is formulated in the receding horizon framework using the measured information. A detailed kinematic model of WMR is presented to understand the motion of the robot in a plane environment and then the proposed nonlinear model is used for the trajectory tracking control in the NMPC framework. A receding horizon optimization problem is sol...
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#1Raouf FarehH-Index: 8
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Trajectory tracking of a mobile manipulator in the Cartesian space based on decentralized control is considered in this paper. The dynamic model is first rearranged to take the form of two interconnected subsystems with constraint flow, namely, a nonholonomic mobile platform subsystem and a holonomic manipulator subsystem. Secondly, using the inverse kinematics, the workspace desired trajectory of the mobile manipulator is transformed to the manipulator joint space as well as the platform desire...
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In this paper, we propose an acceleration-level pseudo-dynamic visual servoing structure for the nonholonomic mobile robots, based on which we design two different adaptive controllers—backstepping and dynamic surface control (DSC) in the presence of unknown depth information. Different from existing kinematic controllers, which directly regard linear and angular velocities as control inputs, this paper designs acceleration control that is integrated to easily obtain smooth velocity signals to b...
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#1Hsiu-Ming Wu (NCUT: National Chin-Yi University of Technology)H-Index: 1
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