Flatness-based control in successive loops for industrial and mobile robots

Rigatos, Gerasimos; Wira, Patrice; Abbaszadeh, M.; Pomares, Jorge

doi:10.1109/iecon49645.2022.9968538

Cited by 3 publications

(3 citation statements)

References 19 publications

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“…This special form simplifies the concept of a feedback controller capable of achieving exact trajectory tracking. In fact, controlling a linear system is easier than controlling an underactuated nonlinear system, and this feature has encouraged researchers to use the properties of flatness in several application domains, such as the control of hydraulic systems [11], exoskeleton robots [12], microgrid [13], underwater robot [14], and quadrotor [15,16].…”

Section: Introductionmentioning

confidence: 99%

Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments

Abadi,

Ayeb,

Labbadi

et al. 2024

Sensors

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This paper proposes a robust tracking control method for wheeled mobile robot (WMR) against uncertainties, including wind disturbances and slipping. Through the application of the differential flatness methodology, the under-actuated WMR model is transformed into a linear canonical form, simplifying the design of a stabilizing feedback controller. To handle uncertainties from wheel slip and wind disturbances, the proposed feedback controller uses sliding mode control (SMC). However, increased uncertainties lead to chattering in the SMC approach due to higher control inputs. To mitigate this, a boundary layer around the switching surface is introduced, implementing a continuous control law to reduce chattering. Although increasing the boundary layer thickness reduces chattering, it may compromise the robustness achieved by SMC. To address this challenge, an active disturbance rejection control (ADRC) is integrated with boundary layer sliding mode control. ADRC estimates lumped uncertainties via an extended state observer and eliminates them within the feedback loop. This combined feedback control method aims to achieve practical control and robust tracking performance. Stability properties of the closed-loop system are established using the Lyapunov theory. Finally, simulations and experimental results are conducted to compare and evaluate the efficiency of the proposed robust tracking controller against other existing control methods.

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Section: Introductionmentioning

confidence: 99%

Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments

Abadi,

Ayeb,

Labbadi

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…This special form simplifies the concept of a feedback controller capable of achieving exact trajectory tracking. In fact, controlling a linear system is easier than controlling an underactuated nonlinear system, which has encouraged researchers to use the properties of flatness in several application domains, such as the control of hydraulic systems 2 , exoskeleton robots 3 , microgrid 4 , and quadrotor 5,6 . The concept of flatness control has been employed in numerous research studies focusing on WMR.…”

mentioning

confidence: 99%

“…ADRC introduced by Han 17 is based on the extended state observer (ESO), which allows for accurate observation of all disturbances in the system as an extended state, and dynamically compensates for it. By compensating for the total disturbance, a nonlinear system can be approximated as a linear system 3,18 . For this reason, ADRC has been successfully applied in many practical applications, including trajectory tracking of quadrotors 19 , regulation of power plant furnaces 20 , and superheated steam temperature control 21 .…”

mentioning

confidence: 99%

Robust Tracking Control of Wheeled Mobile Robot Subject to Uncertainties

Abadi,

labbadi

2023

Preprint

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The paper suggests a compound control that combines nonlinear flatness, active disturbance rejection control (ADRC), and sliding mode control (SMC). By employing the differential flatness methodology, the standard under-actuated wheeled mobile robot model is converted into a fully actuated one. Utilizing this model as a basis, a sliding feedback controller is suggested to address the issue of uncertainties associated with wheel slip and wind. However, as the uncertainties increase, a higher control input is required, resulting in an undesired chattering phenomenon. To reduce chattering in SMC, a boundary layer surrounding the switching surface is employed, and a continuous law is implemented within the boundary. The boundary layer width plays an important role in improving robustness and eliminating chatter. Indeed, increasing the thickness of the boundary layer significantly reduces chattering, but it may lead to a loss of robustness performance achieved by the discontinuous control provided by SMC. To resolve this problem, active disturbance rejection control is combined with boundary layer sliding mode control. When utilizing the ADRC method, the lumped uncertainties are estimated via an extended state observer and eliminated within the feedback loop. The newly obtained feedback control combines the advantages of boundary layer SMC and ADRC to achieve practical control and robust tracking performance. The stability properties exhibited by the closed-loop system are rigorously established through the application of Lyapunov theory. In conclusion, a series of simulations has been conducted to compare and evaluate the efficiency of the presented robust tracking controller against other existing control methods.

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Flatness-Based Control in Successive Loops for Unmanned Aerial Vehicles and Micro-Satellites

Rigatos,

Abbaszadeh,

Busawon

et al. 2023

Guid. Navigat. Control

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The control problem for the multivariable and nonlinear dynamics of unmanned aerial vehicles and micro-satellites is solved with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of (i) unmanned aerial vehicles and (ii) micro-satellites is separated into two subsystems, which are connected between them in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat systems. The state variables of the second subsystem become virtual control inputs for the first subsystem. In turn, exogenous control inputs are applied to the first subsystem. The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis. The validity of the control method is confirmed in two case studies: (a) control and trajectories tracking for the autonomous octocopter, (ii) control of the attitude dynamics of micro-satellites.

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Flatness-based control in successive loops for industrial and mobile robots

Cited by 3 publications

References 19 publications

Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments

Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments

Robust Tracking Control of Wheeled Mobile Robot Subject to Uncertainties

Flatness-Based Control in Successive Loops for Unmanned Aerial Vehicles and Micro-Satellites

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