Path following algorithm for skid-steering mobile robot based on adaptive discontinuous posture control

Ibrahim, Fady; Abouelsoud, A. A.; El-Bab, Ahmed M. R. Fath; Ogata, Tetsuya

doi:10.1080/01691864.2019.1597764

Cited by 19 publications

(9 citation statements)

References 45 publications

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“…Consider the dynamics of the SSAV represented in equation (2) with the controller τ proposed in Ibrahim et al 13 using the estimated states by second-order differentiator (equation (21)) using the sliding mode structure based on nested super-twisting algorithm. Consider that the function u is selected as in equation (17) with the tracking function r selected as in equation (24) with the time-varying gain K satisfying the dynamics in equation (25).…”

Section: Adaptive Version Of the Ssav Control Designmentioning

confidence: 99%

“…The proposed approach presented in Salgado et al 12 exhibited a state-feedback control design using the super-twisting algorithm that may stabilize the deviation error between the SSAV and the reference trajectories considering the application of an online estimator that provides an efficient approximate result for the first and second derivatives. A path tracker using a state-dependent discontinuous controller appeared in Ibrahim et al 13 Variable structure control techniques proposed by Pazderski and Kozłowski 14 took advantage of expanded transverse capacities to get ahead of the execution of their suggested robust controllers when approaching allowable reference movements. Besides, efficient sliding mode fuzzy controller was developed 15 to enforce direction following calculation by employing a sequence of traceable reference points, attempting to get on with the mechanical framework execution, taking into account the presence of modeling inaccuracies and outside unsettling influences, and ensuring reduced convergence time using smooth control actions.…”

Section: Introductionmentioning

confidence: 99%

“…Figure13. Comparison of the temporal evolution of the X trajectories for the lemniscate path under the action of the proposed adaptive controller and a PID form.…”

mentioning

confidence: 99%

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Output feedback adaptive controller of a autonomous skid-steering mobile vehicle based on sequential super-twisting differentiators

Fuentes-Alvarez

Chairez

Adams

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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The main purpose of this work is to develop an output state-dependent controller that solves the path-tracking deviation error for a skid-steering autonomous vehicle. The controller takes advantage of a nonlinear diffeomorphism that transforms skid-steering autonomous vehicle into a multi-input multi-output chain of integrators. This research assumes that available skid-steering autonomous vehicle variables are its position and its orientation. This in fact motivates the development of a modified super-twisting algorithm operating as a sequential step-by-step differentiator that estimates traslational velocity and acceleration of the studied autonomous vehicle in a finite time, which were used as part of the controller implementation. Based on the estimated states by the step-by-step multi-variable differentiator, an adaptive control design enforces the asymptotic convergence of the tracking trajectories for the skid-steering autonomous vehicle to the origin. The explicit form of the controller gains is derived using a class of control Lyapunov function including the deviation corresponding to the tracking error and a term that defines a matrix norm associated with control gains. Numerical results confirm the workability of the proposed controller considering the reduced norm of tracking error obtained with the proposed controller. Experimental evaluations compared the adaptive control introduced in this study and a state-feedback form justifying the control proposal. The adaptive form enforced smaller tracking errors using the estimated states forced by the step-by-step differentiator and the information obtained from a multi-camera video high-frequency acquisition system.

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Section: Adaptive Version Of the Ssav Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Output feedback adaptive controller of a autonomous skid-steering mobile vehicle based on sequential super-twisting differentiators

Fuentes-Alvarez

Chairez

Adams

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…The Lyapunov-stability-based path following methods are interesting. Ibrahim et al designed a point-to-point tracking algorithm which was introduced to track a trajectory defined by a set of waypoints [19]. Dai et al applied the sliding mode control technique to derive the steering control command [20].…”

Section: Introductionmentioning

confidence: 99%

Curved Path Following Controller for 4W Skid-Steering Mobile Robots Using Backstepping

Chen

Zeng

et al. 2022

IEEE Access

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Path following is a fundamental problem in skid-steered mobile robots (SSMR). In this study, a Lyapunov stable curved path following controller was designed to generate the steering control command for an SSMR. In contrast to the existing path following controller design methods, either the complete dynamic model of the robot is considered or not, the steering dynamic characteristics approximated by a first-order model are considered in this study. Together with the kinematic model, a steering control law for following a curved path was designed by using the backstepping technique and Lyapunov stability theory. The proposed method was verified on a real SSMR platform to realize following the straight-line, square, and circular paths. Compared with the steering control law without considering the steering dynamics, the proposed method can make the robot converge to the predefined path faster with a smaller error overshoot.

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“…Research in this area is justified by the increasing relevance of mobile robotics in socioeconomic activities such as forestry, mining, agriculture, search and rescue, medicine, housework, industry and space exploration (Klancar, Zdesar, Blazic, & Skrjranc, 2017;Nourbakhsh & Siegwart, 2004). The efficient deployment of mobile robots in these activities requires a solution for the robot motion control problem, which in itself presents interesting theoretical challenges (Ibrahim, Abouelsoud, Elbab, & Ogata, 2019;Morin & Samson, 2006;Urakubo, 2015;Wu, Xu, & Yin, 2009). Mobile robot controllers must deal not only with fundamental nonholonomic constraints in the robot model, but also with practical issues such as actuator saturation, sensor measurement noise, and the wheel slip phenomenon.…”

Section: Introductionmentioning

confidence: 99%

Kinematic control design for wheeled mobile robots with longitudinal and lateral slip

Burghi¹,

Iossaqui²,

Camino³

2021

Preprint

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The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that is capable of solving the trajectory tracking problem of a nonholonomic mobile robot under longitudinal and lateral slip. While the controller can effectively compensate for the longitudinal slip, the lateral slip is a more involved problem to deal with, since nonholonomic robots cannot directly produce movement in the lateral direction. To show that the proposed controller is still able to make the mobile robot follow a reference trajectory under lateral and longitudinal time-varying slip, the solutions of the robot's position and orientation error dynamics are shown to be uniformly ultimately bounded. Numerical simulations are presented to illustrate the robot's performance using the proposed adaptive control law.

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Path following algorithm for skid-steering mobile robot based on adaptive discontinuous posture control

Cited by 19 publications

References 45 publications

Output feedback adaptive controller of a autonomous skid-steering mobile vehicle based on sequential super-twisting differentiators

Output feedback adaptive controller of a autonomous skid-steering mobile vehicle based on sequential super-twisting differentiators

Curved Path Following Controller for 4W Skid-Steering Mobile Robots Using Backstepping

Kinematic control design for wheeled mobile robots with longitudinal and lateral slip

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