Experimental Verification of the Differential Games and H∞ Theory in Tracking Control of a Wheeled Mobile Robot

Penar, Paweł; Hendzel, Zenon

doi:10.1007/s10846-022-01584-6

Cited by 5 publications

(3 citation statements)

References 23 publications

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“…Substituting ( 17) and( 18) to ( 13), ( 14), (15), and ( 16) and applying appropriate algebraic manipulations, the inputs and outputs of the mobile robot are related by the set of differential equations in (3) and (4).…”

Section: Mobile Robot Nonlinear Dynamics With Additive Modelling Errorsmentioning

confidence: 99%

“…The combination of maneuverability, cost-effectiveness, and ease of integration positions differential drive mobile robots as a versatile and efficient solution in the ever-evolving landscape of robotics and automation. In order to control the performance variables of such robotic vehicles, several control approaches have been proposed, including, among many, PID type of controllers (see [10][11][12]), linear static state feedback controllers (see [5]), optimal type of controllers (see [13][14][15][16]), predictive controllers (see [17,18]), and fuzzy (see [19,20]) and adaptive controllers (see [21,22]).…”

Section: Introductionmentioning

confidence: 99%

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A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

Kouvakas,

Koumboulis,

Sigalas

2024

Robotics

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Differential drive mobile robots, being widely used in several industrial and domestic applications, are increasingly demanding when concerning precision and satisfactory maneuverability. In the present paper, the problem of independently controlling the velocity and orientation angle of a differential drive mobile robot is investigated by developing an appropriate two stage nonlinear controller embedded on board and also by using the measurements of the speed and accelerator of the two wheels, as well as taking remote measurements of the orientation angle and its rate. The model of the system is presented in a nonlinear state space form that includes unknown additive terms arising from external disturbances and actuator faults. Based on the nonlinear model of the system, the respective I/O relation is derived, and a two-stage nonlinear measurable output feedback controller, analyzed into an internal and an external controller, is designed. The internal controller aims to produce a decoupled inner closed-loop system of linear form, regulating the linear velocity and angular velocity of the mobile robot independently. The internal controller is of the nonlinear PD type and uses real time measurements of the angular velocities of the active wheels of the vehicle, as well as the respective accelerations. The external controller aims toward the regulation of the orientation angle of the vehicle. It is of a linear, delayed PD feedback form, offering feedback from the remote measurements of the orientation angle and angular velocity of the vehicle, which are transmitted to the controller through a wireless network. Analytic formulae are derived for the parameters of the external controller to ensure the stability of the closed-loop system, even in the presence of the wireless transmission delays, as well as asymptotic command following for the orientation angle. To compensate for measurement noise, external disturbances, and actuator faults, a metaheuristic algorithm is proposed to evaluate the remaining free controller parameters. The performance of the proposed control scheme is evaluated through a series of computational experiments, demonstrating satisfactory behavior.

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Section: Mobile Robot Nonlinear Dynamics With Additive Modelling Errorsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

Kouvakas,

Koumboulis,

Sigalas

2024

Robotics

View full text Add to dashboard Cite

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“…Neural networks are used as closed-loop controllers for mobile robot motion control in the study of Velagic et al 8 The error signal is fed to the neural network controller similar to most general cases. In another study, 9 both simulation and real robot experiments are conducted for tracking control of the wheeled mobile robot. Differential games and H ∞ control are applied as controllers and disturbance rejection capabilities are observed.…”

Section: Introductionmentioning

confidence: 99%

Single-layer neural-network based control of agricultural mobile robot

GÖKÇE

2023

Measurement and Control

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In this study, we propose a novel controller architecture and design for the automatic control of agricultural mobile robots to be used in farms and greenhouses. There are two novelties of this study. The first novelty is a completely new type of controller architecture proposed in which reference inputs and measured outputs are fed separately independent from each other to the controller. The controller architecture currently used in the literature uses only the difference between reference and measurement which is the error signal. The proposed architecture in this study is completely novel in the sense that not only the error information is used in the controller but also the information in reference inputs and information in measured outputs are used separately. This means a completely new type of look to control system by utilizing the information maximally in order to achieve superior performance. This performance boost is shown in the paper where the proposed architecture achieves up to 2000% better performance compared with state-of-the-art controllers. Second, controller architecture is grown to a complex structure from an initially simple PID structure. Using the maximal information comes with the cost of computational complexity to design the controller. The second novelty of growing the controller from initially simple PID equivalent controller tackles this difficulty by making the problem tractable and efficient to compute. This way the proposed novel controller can be designed within minutes in a commercially available laptop computer. The proposed controller is tested on a simulated agricultural mobile robot and results are compared with a previous state-of-the-art optimal controller. It is believed that the proposed architecture will be dominant in future automatic controllers and make current state-of-the-art controllers obsolete. This is because of the full utilization of information in controller design which results in robust disturbance rejection performance.

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A Novel Rank-order-centroid Based Reduction of Self-balanced-bicycle-robot Controller Using Grey-wolf Optimizer

Yadav

Meena

Singh

2022

J Intell Robot Syst

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Experimental Verification of the Differential Games and H∞ Theory in Tracking Control of a Wheeled Mobile Robot

Cited by 5 publications

References 23 publications

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

Single-layer neural-network based control of agricultural mobile robot

A Novel Rank-order-centroid Based Reduction of Self-balanced-bicycle-robot Controller Using Grey-wolf Optimizer

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