Disturbance Rejection MPC for Tracking of Wheeled Mobile Robot

Sun, Zhongqi; Xia, Yuanqing; Li, Dai; Liu, Kun; Ma, Dailiang

doi:10.1109/tmech.2017.2758603

Cited by 115 publications

(60 citation statements)

References 32 publications

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“…For the case of ω 0 = 0, the heading error isθ 0i = {0, π} no matter whether the speed v 0 is time-varying or constants. From (15), one concludes that ω i = 0 and v i = v 0 for vehicle i, i = 1, · · · , n. This proves (iii).…”

Section: Remarksupporting

confidence: 59%

“…For the case ofx 0 0i = 0, the heading error isθ 0i = {0, π} no matter whether the speeds v 0 , ω 0 are time-varying or constants. From (15), one concludes that ω i = ω 0 and v i = v 0 − ω 0ȳ 0 0i for vehicle i, i = 1, · · · , n and the speed ratios v i /ω i for each vehicle (i = 0, 1, · · · , n) do not have to be constants. This proves (ii).…”

Section: Remarkmentioning

confidence: 97%

“…To further demonstrate the applicability of the proposed scheme, real experiments on a physical multi-robotic system are performed. The experimental platform uses three nonholonomic robots named the wheeled E-puck robots [35], [15]. In the experiment, we model the interaction among the three E-puck robots with a directed tree graph (i.e.…”

Section: B Experimentsmentioning

confidence: 99%

“…Beyond the single-agent control, formation control as a typical multi-agent application has been investigated widely, which aims to control multiple vehicles to form and maintain a prescribed geometric shape [3]. Many approaches, such as behavior-based approach [11], virtual structure [13], leaderfollower structure [22], potential field method [12], consensusbased approach [14], and MPC approach [15], [16], are proposed to tackle the formation control problem for nonholonomic vehicles. Besides the formation stabilization control approaches, the research of mobile formation maneuvers is also an important issue, especially for the mobile formation coordination with rigid-body motion constraints.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

Peng

Sun

Guo

et al. 2020

IEEE/ASME Trans. Mechatron.

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This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles' position information and desired attitude, the translational and rotational control inputs are designed in two stages to solve the trajectory tracking problem. Secondly, the coordination relationships of relative positions and headings are explored thoroughly for a group of non-holonomic vehicles to maintain a mobile formation with rigid body motion constraints. We prove that, except for the cases of parallel formation and translational straight line formation, a mobile formation with strict rigid-body motion can be achieved if and only if the ratios of linear speed to angular speed for each individual vehicle are constants. Motion properties for mobile formation with weak rigid-body motion are also demonstrated. Thereafter, based on the proposed trajectory tracking approach, a distributed mobile formation control law is designed under a directed tree graph. The performance of the proposed controllers is validated by both numerical simulations and experiments.

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Section: Remarksupporting

confidence: 59%

Section: Remarkmentioning

confidence: 97%

Section: B Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

Peng

Sun

Guo

et al. 2020

IEEE/ASME Trans. Mechatron.

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show abstract

“…Taking also into account that the computation time for feedback linearization or control signal generation by the inverse model or MPC techniques is non-negligible, these simplified hypotheses make the above mentioned techniques not always reliable (see [4][5][6]8,10,14,15,20,[23][24][25]29,31,33,37,40,41]. In some cases, the control system can even be unstable, as can be verified with simple examples (see also Appendix A).…”

Section: Introductionmentioning

confidence: 99%

A Unified Approach to Design Robust Controllers for Nonlinear Uncertain Engineering Systems

Celentano¹

2018

Applied Sciences

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Featured Application: Design and realization of robust, simple and effective controllers, mainly for the transportation and manufacturing systems.Abstract: This paper presents new theorems, which allow to design in a unified way robust proportional-derivative (PD)-type control laws without chattering for a broad class of uncertain nonlinear multi-input multi-output (MIMO) systems, subject to bounded disturbances and noises, of great theoretical and engineering relevance. These controllers are used to track a reference signal with bounded second derivative with the tracking error norm smaller than a prescribed value. The proposed control laws are simple to design and implement, above all for robotic systems, both in the case of a trajectory assigned in the joint space and in the workspace. The obtained theoretical results can have numerous applications. In this paper four significant applications are provided. The first one concerns the solution of a nonlinear equations system or the determination of an equilibrium point of a nonlinear system. The second case study deals with the inversion of a nonlinear vectorial function or the kinematic inversion of a robot. The third application concerns: (A) the tracking control of a robot with parametric uncertainties, with and without measurement noise on velocity, both in the joint space and the workspace; (B) the impedance control of a robot interacting with a human operator. The fourth case study addresses the tracking control of an uncertain nonlinear system that does not belong to the class of mechanical systems. Finally, an appendix is included, providing six easy examples, which show how the results proposed in the paper can eliminate and/or reduce serious disadvantages existing in the robust control literature for significant classes of linear and nonlinear uncertain systems.Keywords: general robust tracking control method; design of robust proportional-derivative-type controller; practical robust stability; robust control of mechanical uncertain systems; impedance control of a robot

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Fixed‐time linear quadratic adaptive sliding mode control for a class of cart‐pendulum robots

Jin

Liu

et al. 2022

Optim Control Appl Methods

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This article is concerned with the fixed-time path-following control problem of a perturbed cart-pendulum robot with linear quadratic (LQ) performance optimization. In order to ensure the displacements of cart and pendulum of the robot following the desired paths within fixed-time, adaptive anti-perturbation sliding mode control schemes with a novel fixed-time sliding mode surface are developed to withstand the adverse influence of perturbations. Furthermore, an adaptive radial basis function neural network (RBFNN)-based sliding mode control algorithm is employed to approximate the continuous perturbations, so that the path-following LQ control problem can be further dealt with. The fixed-time stability and path-following results of the cart-pendulum robotic system are achieved by Lyapunov stability theory. A simulation example for a heavy material handling agricultural robot is proposed to verify the effectiveness of the developed method.

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Disturbance Rejection MPC for Tracking of Wheeled Mobile Robot

Cited by 115 publications

References 32 publications

Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

A Unified Approach to Design Robust Controllers for Nonlinear Uncertain Engineering Systems

Fixed‐time linear quadratic adaptive sliding mode control for a class of cart‐pendulum robots

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