Trajectory tracking control for a wheel mobile robot on rough and uneven ground

Li, Li; Cao, Weijun; Yang, Hongjiu; Geng, Qing

doi:10.1016/j.mechatronics.2022.102741

Cited by 27 publications

(6 citation statements)

References 29 publications

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“…Due to the delay in adaptive adjustment of parameters, the tracking accuracy of the system has made some sacrifices in the dynamic response stage (0-10s). However, the steady-state accuracy of the trajectory tracking errors x e (t) and y e (t) of the proposed method is better than that of the method proposed in [12]. Although the proposed method in this paper shows large angle tracking error, it does not affect the overall tracking performance of the system.…”

Section: Experiments Resultsmentioning

confidence: 78%

“…The parameters of classical kinematic controller [12,13,24,32] are only theoretically required to be greater than zero. So the selection of suitable parameters is difficult.…”

Section: Outer Loop Controller Designmentioning

confidence: 99%

“…Therefore, it is difficult to design kinematic controller to control the WMR's posture. Based on state feedback, classical kinematic controllers are studied in [12,13]. With the characteristic of explicitly handling system constraints, model predictive control is used to deal with tracking control problems of WMR in [14,15].…”

Section: Introductionmentioning

confidence: 99%

“…With the characteristic of explicitly handling system constraints, model predictive control is used to deal with tracking control problems of WMR in [14,15]. However, in [12][13][14][15], the adjustment of controller parameters depends on practical experience which is conservative. In order to reduce the difficulty of parameter tuning, an adaptive kinematic controller (AKC) is proposed in this paper.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Adaptive dual closed-loop trajectory tracking control for a wheeled mobile robot on uneven ground

Qiang

Xia

et al. 2023

Preprint

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In this paper, trajectory tracking problem is investigated for a wheeled mobile robot (WMR) on uneven ground. Firstly, a more accurate dynamic model is developed by introducing a direct current motor model. Secondly, an improved fixed-time extended state observer (FXESO) is proposed to estimate the system states and the lumped disturbance containing unmodeled dynamics of the system and uneven ground. Thirdly, a dual closed-loop control (DCLC) strategy is proposed. For the outer loop control, adaptive kinematic controller (AKC) is presented, which reduces the difficulty of parameter tuning and improves the steady-state accuracy of position errors compared to the classical kinematic controller. For the inner loop control, a dynamic controller based on adaptive non-singular terminal sliding mode control (ANTSMC) and improved FXESO is designed, in which the velocity errors converge to zero in finite time. Finally, numerical simulations and experiment results are carried out to illustrate the effectiveness of the proposed control strategy.

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Section: Experiments Resultsmentioning

confidence: 78%

“…The parameters of classical kinematic controller [12,13,24,32] are only theoretically required to be greater than zero. So the selection of suitable parameters is difficult.…”

Section: Outer Loop Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive dual closed-loop trajectory tracking control for a wheeled mobile robot on uneven ground

Qiang

Xia

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…Both simulation results and experimental results on real robot are reported. In Li et al's 26 study, a dual closed-loop trajectory tracking control strategy for a non-holonomic wheeled mobile robot (WMR) was developed. Sliding mode control was used for inner loop and a simple kinematic controller was used for outer loop.…”

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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Optimal enhanced backstepping method for trajectory tracking control of the wheeled mobile robot

Zhang,

Chai,

Tan

2024

Optim Control Appl Methods

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This paper proposes a novel control method applied to the trajectory tracking of the wheeled mobile robot. This method can solve the tracking difficulty caused by the non‐holonomic constraint and the under‐actuated properties. First, according to the kinematic and dynamic tracking error models, the desired velocities for trajectory tracking purposes are obtained. Second, the control method, consisting of an enhanced backstepping controller with fewer gains and an optimization algorithm, is designed. The actual trajectory of the mobile robot is exactly converged and kept at the predefined reference trajectory by the operation of this method. Next, this method with globally uniformly asymptotically stability is theoretically analyzed. Finally, simulation comparisons and physical experiments are conducted in different scenarios. The tracking performance is evaluated by three metrics, namely convergence speed, tracking accuracy and robustness, thus verifying the effectiveness of the novel control method.

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Trajectory tracking control for a wheel mobile robot on rough and uneven ground

Cited by 27 publications

References 29 publications

Adaptive dual closed-loop trajectory tracking control for a wheeled mobile robot on uneven ground

Adaptive dual closed-loop trajectory tracking control for a wheeled mobile robot on uneven ground

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

Optimal enhanced backstepping method for trajectory tracking control of the wheeled mobile robot

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