Trajectory tracking for a wheeled mobile robot with an omnidirectional wheel on uneven ground

Yang, Hongjiu; Wang, Shizhan; Zuo, Zhiqiang; Li, Peng

doi:10.1049/iet-cta.2019.1074

Cited by 33 publications

(15 citation statements)

References 30 publications

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“…In order to verify effectiveness of the proposed controller, simulations were done by using the kinematic control defined by (26) and the robust nonlinear state feedback based controller defined by (25). However, we must first know the appropriate value for ε due that Tikhonov's theorem imposes the limit ε * .…”

Section: Accessing the Controller: Simulation Resultsmentioning

confidence: 99%

“…In contrast, in order to mitigate this difficulty, several types of controllers have been proposed, such as time-varying control laws, discontinuous control laws, and their respective hybrid control versions [5,24]. Nevertheless, the techniques for trajectory control have been based on linearization techniques for local controlling [25,26,27,28] or techniques of nonlinear state feedback with singular parameters [29,20,17] without taking into account the error propagation on closed-loop control scheme due to the flexibility. To this end, previous works of the author have shown the relevant role of the flexibility at each stage of the control scheme, it is the case of the controller based on the DCSV approach2 to find suitable tunning of the parameters of an auxiliary control law on the outer loop according to the flexibility parameter ε [6,31,32,30].…”

Section: Introductionmentioning

confidence: 99%

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Oriented manifold-based error tracking control for nonholonomic wheeled autonomous vehicles on Lie group for curvilinear approach

Fernández¹

2021

Lat. Americ. J. of Develop.

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This paper considers the trajectory tracking control of wheeled autonomous vehicles (WAV) with slipping in the wheels, i.e., when the kinematic constraints are not satisfied. Usually, the coordinates system used to represent all control problems suggest invariant subspaces mutually orthogonal, but this approach can not be enough to treat curvatures significative large at different navigation speed. In order to get a slight im- provement on this topic, there are previous works showing that the kinematic problem (commonly associated with an outer loop) can be resynthesized by using other invariant subspaces, i.e., another representation of the configuration space. For this reason, the proposal reported here uses an oriented-manifold parametrized by a coordinate system on a curve viewpoint of the trajectory to describe the kinematic problem, however, the dynamic control law remains faithful to the singular perturbation approach with invariant subspaces mutually orthogonal, thus, it is possible to include the flexibility through a small factor in the dynamic model (well-known as ε), responsible to avoid the good-performance of the kinematic constraints. Only a common curvature-transformation between orthogonal and curve coordinates will be used to couple both approaches. Finally, it will be observed that when the controller is applied to the control scheme the behavior of the tracking is meaningfully improved.

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Section: Accessing the Controller: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Oriented manifold-based error tracking control for nonholonomic wheeled autonomous vehicles on Lie group for curvilinear approach

Fernández¹

2021

Lat. Americ. J. of Develop.

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“…e Euler-Lagrange equation of motion can be used to describe the dynamic behaviour of an OMR. e dynamic model of the ith OMR can be described as [31]…”

Section: Dynamic Modelmentioning

confidence: 99%

“…However, the LADRC is loss of design flexibility because the LADRC parameters are adjusted based on bandwidth. A general LADRC with more tuning parameters was proposed in [29], and nowadays LADRC has been employed to various cases in engineering application and becomes much more popular [30,31].…”

Section: Introductionmentioning

confidence: 99%

A Q‐Learning‐Based Parameters Adaptive Algorithm for Formation Tracking Control of Multi‐Mobile Robot Systems

et al. 2022

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This paper proposes an adaptive formation tracking control algorithm optimized by Q-learning scheme for multiple mobile robots. In order to handle the model uncertainties and external disturbances, a desired linear extended state observer is designed to develop an adaptive formation tracking control strategy. Then an adaptive method of sliding mode control parameters optimized by Q-learning scheme is employed, which can avoid the complex parameter tuning process. Furthermore, the stability of the closed-loop control system is rigorously proved by means of matrix properties of graph theory and Lyapunov theory, and the formation tracking errors can be guaranteed to be uniformly ultimately bounded. Finally, simulations are presented to show the proposed algorithm has the advantages of faster convergence rate, higher tracking accuracy, and better steady-state performance.

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“…In the work presented in [40], a type-2 fuzzy logic controller was designed for an OWMR in order to control the motor speed of the wheels so that the robot behavior remains maintained. The work presented in [41] solved the trajectory tracking problem on uneven terrain for an OWMR using a double closed-loop control strategy. In [42], proportional derivative control tuning was established for OMRs so that the tracking error and energy consumption could be minimized by the use of the dynamic optimization approach.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

Almasri

Uyguroğlu

2021

Symmetry

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Trajectory optimization is the series of actions that are taken into consideration in order to produce the best path such that it improves the overall performances of physical properties or reduces the consumption of the resources where the restriction system remains maintained. In this paper, first, a compact mathematical model for a symmetrical annular-shaped omnidirectional wheeled mobile robot (SAOWMR) is derived and verified. This general mathematical model provides an opportunity to conduct research, experiments, and comparisons on these omnidirectional mobile robots that have two, three, four, six, or even more omnidirectional wheels without the need to switch models or derive a new model. Then, a new computationally efficient method is proposed to achieve improvements in the trajectory planning optimization (TPO) for a SAOWMR. Moreover, the proposed method has been tested in collision-free navigation by incorporation of the path constraints. Numerical tests and simulations are presented aiming to ensure the efficiency and effectiveness of the proposed method.

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Trajectory tracking for a wheeled mobile robot with an omnidirectional wheel on uneven ground

Cited by 33 publications

References 30 publications

Oriented manifold-based error tracking control for nonholonomic wheeled autonomous vehicles on Lie group for curvilinear approach

Oriented manifold-based error tracking control for nonholonomic wheeled autonomous vehicles on Lie group for curvilinear approach

A Q‐Learning‐Based Parameters Adaptive Algorithm for Formation Tracking Control of Multi‐Mobile Robot Systems

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

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