Stabilized Feedback Control of Unicycle Mobile Robots

Khoukhi, Amar; Mohamed, S. A.

doi:10.5772/51323

Cited by 8 publications

(4 citation statements)

References 31 publications

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“…Similarly to [16,17], we investigate a collective system of N identical autonomous mobile robots whose respective equations of motion are [15] qi…”

Section: Problem Formulationmentioning

confidence: 99%

Bounded Distributed Flocking Control of Nonholonomic Mobile Robots

Nguyen,

La,

Azimi

et al. 2017

Preprint

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There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing the flocking control problem of mobile robots due to their nonholonomic dynamic properties. Taking practical constraints into consideration, we propose a novel approach to distributed flocking control of nonholonomic mobile robots by bounded feedback. The flocking control objectives consist of velocity consensus, collision avoidance, and cohesion maintenance among mobile robots. A flocking control protocol which is based on the information of neighbor mobile robots is constructed. The theoretical analysis is conducted with the help of a Lyapunov-like function and graph theory. Simulation results are shown to demonstrate the efficacy of the proposed distributed flocking control scheme.

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“…Similarly to [16,17], we investigate a collective system of N identical autonomous mobile robots whose respective equations of motion are [15] qi…”

Section: Problem Formulationmentioning

confidence: 99%

Bounded Distributed Flocking Control of Nonholonomic Mobile Robots

Nguyen,

La,

Azimi

et al. 2017

Preprint

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“…Our aim is to construct a robust feedback controller, which makes system (1) asymptotically stable. More precisely, for a given known stabilizing control for the nominal system of (1), we want to redesign another robust stabilizing feedback control of the perturbed system (1). We can realize that we want to robustify an existing feedback control of the nominal system.…”

Section: Problem Statementmentioning

confidence: 99%

“…In the literature of the wheeled mobile robot control, there are two fundamental problems: posture stabilization and trajectory/path tracking. The aim of posture stabilization is to stabilize the robot to a desired point [1], while the trajectory tracking is to enforce the robot to follow a reference trajectory [2]. For WMRs, it is difficult to control such system by continuous time-invariant controller.…”

Section: Introductionmentioning

confidence: 99%

Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties

Bessas

Benalia

Boudjema

2016

Journal of Control Science and Engineering

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Wheeled mobile robots present a typical case of complex systems with nonholonomic constraints. In the past few years, the dominance of these systems has been a very active research field. In this paper, a new method based on an integral sliding mode control for the trajectory tracking of wheeled mobile robots is proposed. The controller is designed to solve the reaching phase problem with the elimination of matched disturbances and minimize the unmatched one. We distinguish two parts in the suggested controller: a high-level controller to stabilize the nominal system and a discontinuous controller to assess the trajectory tracking in the presence of disturbances. This controller is robust during the entire motion. The effectiveness of the proposed controller is demonstrated through simulation studies for the unicycle with matched and unmatched disturbances.

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“…Discontinuous state feedback control laws have been proposed such as in Astolfi (1995), who suggested applying a single coordinate transformation to the non-holonomic system in chained form. Amar and Mohamed (2013) designed a controller based on kinematic polar coordinate transformations. D' Andrea-Novel et al (1991) showed that stabilization of three-wheel mobile robots is possible with static state feedback using Lagrange formalisms and differential geometry.…”

Section: Introductionmentioning

confidence: 99%

Supervised learning of mapping from sensor space to chained form for unknown non-holonomic driftless systems

Garcia

Kobayashi

2021

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Purpose This study aims to propose an offline exploratory method that consists of two stages: first, the authors focus on completing the kinematics model of the system by analyzing the Jacobians in the vicinity of the starting point and deducing a virtual input to effectively navigate the system along the non-holonomic constraint. Second, the authors explore the sensorimotor space in a predetermined pattern and obtain an approximate mapping from sensor space to chained form that facilitates controllability. Design/methodology/approach In this paper, the authors tackle the controller acquisition problem of unknown sensorimotor model in non-holonomic driftless systems. This feature is interesting to simplify and speed up the process of setting up industrial mobile robots with feedback controllers. Findings The authors validate the approach for the test case of the unicycle by controlling the system with time-state control policy. The authors present simulated and experimental results that show the effectiveness of the proposed method, and a comparison with the proximal policy optimization algorithm. Originality/value This research indicates clearly that feedback control of non-holonomic systems with uncertain kinematics and unknown sensor configuration is possible.

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Stabilized Feedback Control of Unicycle Mobile Robots

Cited by 8 publications

References 31 publications

Bounded Distributed Flocking Control of Nonholonomic Mobile Robots

Bounded Distributed Flocking Control of Nonholonomic Mobile Robots

Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties

Supervised learning of mapping from sensor space to chained form for unknown non-holonomic driftless systems

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