Fuzzy PID Controller Based on Yaw Angle Prediction of a Spherical Robot

Wang, Yixu; Guan, Xinping; Hu, Tao; Zhang, Ziang; Wang, You; Zhan, Wang; Liu, Yifan; Li, Guang

doi:10.1109/iros51168.2021.9636425

Cited by 17 publications

(16 citation statements)

References 18 publications

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“…In subsection A, experiments are carried out to test the roll angle controller HTSMC's tracking effect. For comparison, the same experiments were conducted using the fuzzy-PID controller proposed in our previous work which is verified to be better than traditional PID controller [18]. In subsection B, two trajectory tracking frameworks are compared by tracking three kinds of trajectories.…”

Section: Resultsmentioning

confidence: 99%

“…Assuming the robot moves on a flat terrain without slipping, according to [14], [15], [18], the kinematic model of the spherical robot can be obtained as follows:…”

Section: A Kinematic Modelmentioning

confidence: 99%

“…A fullstate feedback controller for roll motion is provided in [17]. Due to the lack of an experiment-verified dynamic model for spherical robots, PID controllers are widely used for these robots and an efficient Fuzzy-PID controller is proposed in [18] last year. However, the nonholonomic property of the spherical robot created feedback control problems [11].…”

Section: Introductionmentioning

confidence: 99%

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Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

Liu,

Wang,

Guan

et al. 2022

Preprint

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Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller MPC, and a trajectory tracking framework MHH. The HTSMC is designed by integrating a fast terminal algorithm, a hierarchical method, the motion features of a spherical robot, and its dynamics. In addition, the new direction controller has an excellent control effect with a quick response speed and strong stability. MPC can obtain optimal commands that are then transmitted to the velocity and direction controller. Since the two torque controllers in MHH are all Lyapunovbased sliding mode controllers, the MHH framework may achieve optimal control performance while assuring stability. Finally, the two controllers eliminate the requirement for MPC's stability and dynamic constraints. Finally, hardware experiments demonstrate the efficacy of the HTSMC, MPC, and MHH.

show abstract

Section: Resultsmentioning

confidence: 99%

“…Assuming the robot moves on a flat terrain without slipping, according to [14], [15], [18], the kinematic model of the spherical robot can be obtained as follows:…”

Section: A Kinematic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

Liu,

Wang,

Guan

et al. 2022

Preprint

Self Cite

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show abstract

“…To verify the effectiveness and robustness of the proposed controller, different tests are designed to conduct experiments, and its performance is compared with the FPID controller proposed in the previous paper. 34 For a strict comparison between the model-based controller (IRSLQR) and the error-based controller (FPID), experiments were conducted on the spherical robot repetitively and analyzed with representative values.…”

Section: Irslqr Controllermentioning

confidence: 99%

Robust servo linear quadratic regulator controller based on state compensation and velocity feedforward of the spherical robot: Theory and experimental verification

Wang

Liu

Guan

et al. 2023

International Journal of Advanced Robotic Systems

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There are few studies on the lateral motion of spherical robots. In this article, a new algorithm is proposed to solve the problem of low control accuracy of the lateral motion. A single lateral motion model is established, and the optimal solution of the linear quadratic regulator in infinite time domain is obtained. Aiming at the problems of longitudinal velocity and lateral angle coupling and low control precision, state compensation and velocity feedforward are carried out, and an improved robust servo linear quadratic regulator control algorithm is proposed. Experiments show that the proposed lateral control algorithm has strong adaptability and robustness to changing speeds and lateral angles, and the control effect is stable and reliable.

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“…The above approaches did not consider the system's robustness to parametric uncertainties and the reduction of stationary errors in detail. Wang Y. et al [10] constructed a yaw angle prediction-based fuzzy PID controller to adjust the attitude of a SR, which can perform fuzzy reasoning and autonomously modify control parameters based on the robot's current state information. However, the controller is based on a kinematics design, which cannot effectively control the SR under the uncertain parameters of its model.…”

Section: Introductionmentioning

confidence: 99%

Design and validation of a novel adaptive motion control for a pendulum spherical robot

2023

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Spherical robots (SRs) have the characteristics of nonholonomic constraints, underactuation, nonchain, and strong coupling, which increase the difficulty of modeling and motion control compared with traditional robots. In this study, we develop an adaptive motion control scheme for a nonholonomic SR, in which an omnidirectional dynamic model is carried out by using the Euler–Lagrange method to describe the omnidirectional motion of the SR more accurately. Furthermore, to facilitate the design of the motion controller, the dynamic model is simplified to obtain the state space expression of the SR. Aiming at the problem of poor control effect caused by the change of system model parameters which are influenced by dynamic model reduction, an adaptive motion control law of SR is designed based on MRAC. And the coefficient adjustment of the controller is obtained by the Lyapunov method, with the guaranteed stability of the closed-loop system. Finally, the controller designed in this thesis is compared with four controllers including linear quadratic regulator, Fuzzy PID, PSO-ADRC, and hierarchical SMC. The experimental comparison proves that the control scheme proposed in this study still has good control ability when the motion parameters are disturbed.

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Fuzzy PID Controller Based on Yaw Angle Prediction of a Spherical Robot

Cited by 17 publications

References 18 publications

Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

Robust servo linear quadratic regulator controller based on state compensation and velocity feedforward of the spherical robot: Theory and experimental verification

Design and validation of a novel adaptive motion control for a pendulum spherical robot

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