A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

Yu, Rongrong; Ding, Shuhui; Tian, Heqiang; Chen, Ye‐Hwa

doi:10.1177/1077546321999185

Cited by 10 publications

(5 citation statements)

References 34 publications

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“…A constraint-following control based on U-K theory is developed for active suspension systems (Qin et al, 2021). Yu et al (2022) formulate a hierarchical constraint control method to establish dynamic model and track the desired trajectory for a three wheeled mobile robot. Cho et al (2018) develop new continuous sliding mode controllers for multi-input multi-output systems and conduct two numerical examples to demonstrate the accuracy and robustness of them.…”

Section: Introductionmentioning

confidence: 99%

A novel adaptive robust control for trajectory tracking of mobile robot with uncertainties

Xiao

Wang

Jin

et al. 2023

Journal of Vibration and Control

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The main objective of this paper is to handle the trajectory tracking control for a class of three-wheel mobile robot by using a novel adaptive robust control. The mobile robot consists of nonholonomic constraints and uncertainties. The uncertainties include initial condition offset, mass, and moment of inertia of the system, which are time-varying and bounded (unknown). The control force in analytical form is obtained by UK theory, and the adaptive robust control is formulated to handle the uncertainties. For estimating the unknown bounds of uncertainties, the leakage-type adaptive law is designed, which can automatically adjust its own value according to the trajectory tracking errors. Then we verify the uniform boundedness and uniform ultimate boundedness of the proposed control by Lyapunov method. Finally, numerical simulations are conducted to show the trajectory tracking effectiveness of the designed control method.

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Section: Introductionmentioning

confidence: 99%

A novel adaptive robust control for trajectory tracking of mobile robot with uncertainties

Xiao

Wang

Jin

et al. 2023

Journal of Vibration and Control

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“…The iterative learning algorithm has been used to design WMR trajectory tracking control algorithms [18][19][20][21][22]. Iterative learning control is a valid control method for repeatedly completing time-bound control tasks [23].…”

Section: Introductionmentioning

confidence: 99%

Data‐driven iterative learning trajectory tracking control for wheeled mobile robot under constraint of velocity saturation

Dai

Hou

2023

IET Cyber-Syst and Robotics

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Considering the wheeled mobile robot (WMR) tracking problem with velocity saturation, we developed a data-driven iterative learning double loop control method with constraints. First, the authors designed an outer loop controller to provide virtual velocity for the inner loop according to the position and pose tracking error of the WMR kinematic model. Second, the authors employed dynamic linearisation to transform the dynamic model into an online data-driven model along the iterative domain. Based on the measured input and output data of the dynamic model, the authors identified the parameters of the inner loop controller. The authors considered the velocity saturation constraints; we adjusted the output velocity of the WMR online, providing effective solutions to the problem of velocity saltation and the saturation constraint in the tracking process. Notably, the inner loop controller only uses the output data and input of the dynamic model, which not only enables the reliable control of WMR trajectory tracking, but also avoids the influence of inaccurate model identification processes on the tracking performance. The authors analysed the algorithm's convergence in theory, and the results show that the tracking errors of position, angle and velocity can converge to zero in the iterative domain. Finally, the authors used a simulation to demonstrate the effectiveness of the algorithm.

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“…Yu Rongrong et al proposed a novel approach for redundant parallel manipulator dynamics according to the U-K theory, the trajectory following control was realized by experimental simulation [23]. Yu RR et al realized the trajectory following control of the mobile car and proposed ACC method to overcome the trouble of incompatible initial conditions [24]. Qin Feifei et al proposed a new method for the research problem of human lower extremity rehabilitation based on dynamic model of human lower limb movement which was established by U-K theory [25].…”

Section: Introductionmentioning

confidence: 99%

Foot trajectory following control of hexapod robot based on Udwadia–Kalaba theory

et al. 2023

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This paper provides an adaptive robust control strategy for foot trajectory following control of hexapod robot on basis of the Udwadia-Kalaba theory. In this paper, the foot trajectory following control problem of the hexapod robot is transformed into the problem of solving the system control constraint force on basis of the Udwadia-Kalaba theory. Compared with the traditional control strategy, linearization or approximations are not required by using the Udwadia-Kalaba theory for nonlinear system such as the hexapod robot. Due to modeling error, measurement error and the change of working state, the system may have non-ideal initial conditions, vibration interference and other uncertain factors during operation, which affect the control accuracy. An adaptive robust controller is designed for solving uncertainties. Meanwhile, the stability is analyzed by using the second method of Lyapunov function. Finally, the accuracy and stability of the control method proposed are verified by establishing the leg model of the hexapod robot and conducting simulation analysis. The simulation results show that the provided adaptive control process has faster error convergence speed and response speed compared with traditional PID control method.

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A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

Cited by 10 publications

References 34 publications

A novel adaptive robust control for trajectory tracking of mobile robot with uncertainties

A novel adaptive robust control for trajectory tracking of mobile robot with uncertainties

Data‐driven iterative learning trajectory tracking control for wheeled mobile robot under constraint of velocity saturation

Foot trajectory following control of hexapod robot based on Udwadia–Kalaba theory

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