TRAJECTORY TRACKING FOR LEADER-FOLLOWER ROBOTS (original) (raw)
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Sliding mode control of a differential-drive mobile robot following a path
2019 18th European Control Conference (ECC), 2019
This paper presents a control algorithm for a differential-drive robot following a path. The main contributions are: a new control formulation that does not require the robot global position, and a nonlinear controller based on the sliding mode control approach that guarantees stability in both forward and backward motion. Numerical simulations are provided to validate the proposed algorithm.
Sliding Mode Controller for Trajectory Tracking Control of Autonomous Mobile Robot
ELEKTRIKA- Journal of Electrical Engineering, 2018
Trajectory tracking control is an important issue in the field of autonomous mobile robot. In high speed and heavy load applications, the dynamic of autonomous mobile robot plays an important factor in allowing the robot to follow the desired trajectory path. However, the parameters attribute to robot dynamic are difficult to model and highly uncertain. One of the uncertainty factors is the load variation which changes the dynamic parameters of autonomous mobile robot. Meanwhile, Sliding Mode Control (SMC) is well known for its robustness against model uncertainties and disturbances. In this paper, design of dynamic controller based on SMC technique for trajectory tracking control of autonomous mobile robot system is presented. The model of mobile robot is developed based on Pioneer 3-DX mobile robot. The trajectory tracking controller is divided into two parts, kinematic controller and dynamic controller. Stability of both dynamic and kinematic controller is verified using Lyapunov stability theory. The performance of trajectory tracking control for proposed dynamic controller based on SMC technique is compared against dynamic controller based on Proportional-Integral-Derivative (PID) technique with and without the presence of dynamic uncertainties. Simulation results show that the proposed dynamic controller based on SMC technique yields better performance in trajectory tracking control in comparison to PID technique.
Balkan Journal of Electrical and Computer Engineering, 2018
In this study, real-time trajectory tracking control of an autonomous mobile robot, actuated by two DC motors, has been designed, analyzed and studied. Two different control approaches such as model based sliding mode (SMC) and the classical proportional–integral–derivative (PID) control are employed to increase the tracking performance of the mobile robot. A model based SMC technique has been presented in order to consider the complete dynamic model of the robot and in order to increase trajectory tracking performance of the system. The experimental outcomes strongly verified that the proposed controller gives a quite well trajectory tracking response and smaller magnitude overshot compared with the classical PID controller.
Trajectory tracking of a mobile robot using adaptive sliding mode control
2021
The purpose of this paper is to design a control system for a mobile four-wheeled robot, whose task is to achieve stability and proper operation in the execution of commands. As a result of the nonlinear dynamics, structural and parametric uncertainty of this robot, various control approaches are used in order to achieve stability, proper performance, minimize modeling errors and uncertainties, etc. By adjusting linear and angular velocities in the presence of external disturbances and parametric uncertainty, this algorithm is able to follow a predetermined trajectory based on the information contained in the signals received by the sensor from the trajectory.. In previous articles, the upper bound of uncertainty was assumed to be known. This paper makes the assumption that the upper band of uncertainty and disturbances in robotic systems is unknown, since, in many cases, we cannot know the extent of these uncertainties in practice. In our recent paper, we generalized the sliding mo...
Trajectory-tracking and discrete-time sliding-mode control of wheeled mobile robots
2011 IEEE International Conference on Information and Automation, 2011
By implementing this idea, we can overcometrajectory tracking problem of wheeled mobile robot by using discrete-time sliding mode controller. The mobile robot having two differentially driving wheels (2DW) and two balancing caster taken into account as powerboat. It is an automated guided system which is specially equipped and designed for intelligent delivery, autonomous and handling of large payload. Mobile robot member is one of the powerboat of pioneer family of mobile robot, which have research development platform which share a common architecture of, employ-intelligent based client-server robotic controls and foundation software. PowerBot is perfect robot for both, indoor and outside transportation because it has high load carrying capacity and small size. The algorithm which is in the form of discrete-time domain which is used to avoid problem caused by discretization of persistent time controllers. The adequacy of the proposed controller is proved by simulation result and real time result.
Sliding Mode Control: Implementation like PID for trajectory- tracking for Mobile Robots
Most of the controllers design are based on a process model. Generally, the processes are nonlinear, of high order and thus the number of tuning parameters for the controller are in proportion to the model order. Mobile robot models are nonlinear and complex, and the use of traditional procedures to design the SMC would result in a really extensive and probably inefficient expression. For that reason, the robot platform will be treated as a black-box, where only the input and output signals are known, and from them a linear low order model obtained. The linear model is used to synthesize the controller. Therefore, this paper proposes a general approach using a linear low order model of the robot for the SMC implementation. The designed controller has tuned parameters based in the use of a PID-like surface, which simplifies the implementation and avoids the use of the complete model of the robot. A robot Pioneer 3DX is used to test the controller’s performance when tracking a square trajectory.
Trajectory Tracking Control of Mobile Manipulator Using Sliding Mode Control (SMC)
2019
This research principally focused on the feedback control system design for a mobile manipulator and proposes a sliding mode control approach for a two-wheeled mobile manipulator. The wheeled mobile manipulator composed of a two-wheeled mobile platform and a two-degree of freedom onboard manipulator. The dynamic models are established and the sliding mode control techniques are employed. In this thesis work, both regulation and tracking problem are handled. For both regulation and tracking control, a distributed control technique is applied to control the mobile manipulator system that includes two subsystems: a mobile platform and a manipulator. Two controllers are used to control the two subsystems. Firstly, for tracking control the whole system of mobile manipulator is divided into two interrelated subsystems: non-holonomic mobile platform subsystem and manipulator subsystem. Second, inner (kinematic) and outer(dynamic) controllers are developed for the MP subsystem. The kinematic control provides the wanted velocity that is used to develop the dynamic controller ensuring the tracking of the wanted trajectories of the mobile platform subsystem. Third, the control law of the manipulator subsystem is developed based on the wanted and actual values of the manipulator subsystem as well as the desired velocity of the platform subsystem. For regulation purpose, lyapunov based variable structure state feedback controller is designed to ensure the final position regulation for mobile platform instead of terminal slide mode in case of tracking problem and slide mode controller is applied for regulation of manipulator subsystem. In case of tracking problem, the proposed controller is achieved trajectory tracking efficiently which insensitive to random external disturbance(robustness) and fast response with good tracking performances. The simulation is conducted using MATLAB/SIMULINK is shown at last demonstrated the performance and effectiveness of the proposed slide mode controller.
Discrete-Time Sliding Mode Control for Wheeled Mobile Robot Trajectory-Tracking
By implementing this idea, we can overcometrajectory tracking problem of wheeled mobile robot by using discrete-time sliding mode controller. The mobile robot having two differentially driving wheels (2DW) and two balancing caster taken into account as powerboat. It is an automated guided system which is specially equipped and designed for intelligent delivery, autonomous and handling of large payload. Mobile robot member is one of the powerboat of pioneer family of mobile robot, which have research development platform which share a common architecture of, employ-intelligent based client-server robotic controls and foundation software. PowerBot is perfect robot for both, indoor and outside transportation because it has high load carrying capacity and small size. The algorithm which is in the form of discrete-time domain which is used to avoid problem caused by discretization of persistent time controllers. The adequacy of the proposed controller is proved by simulation result and real time result.
Experimental comparison of control strategies for trajectory tracking for mobile robots
International Journal of Automation and Control, 2016
The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments.