Backstepping controller with force estimator applied for mobile robot (original) (raw)
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COBEM-2017-XXIV MODELLING AND CONTROL OF A WHEELED MOBILE ROBOT
This paper proposes the representation of the dynamic model of a wheeled mobile robot (WMR), considering the center of mass and the center of rotation separated by a distance 'a'. This system has three degrees of freedom, presents nonholonomic restrictions, two motorized wheels and a free wheel which ensures its stability. The dynamic model of WMR was performed through the Euler-Lagrange formalism and model obtained in this work will be used in the design of a control strategy to trajectory tracking. Designed controllers were based on the PID and Backstepping technique and the results of the simulations demonstrate the convergence of robot velocity to controller velocity, consequently trajectory tracking. However, some divergences were verified, where the linear control presents a settling time of 10s and maximum overshoot at the control input (torque) of 0.3 Nm, unlike the nonlinear control where settling time is close to 0 and maximum overshoot in the torque of 0.8 Nm
International Journal of Mechanical Engineering and Robotics Research
Differential-drive mobile robots are most commonly used in industrial applications among wheeled mobile robots. Therefore, this paper presents a method to design a variable parameter PID controller for a differential-drive mobile robot following NURBS trajectory with a desired time-varying velocity. First, the robot's nonlinear kinematic error model is established, from which linearized around the desired angular velocity to obtain a linear error equation. Then, the variable parameter PID controller is designed to control the robot to follow the NURBS trajectory with minor error under the condition of time-varying velocity. The controller coefficients are selected through simulation and experiment to achieve the minor kinematic error. A platform robot is designed and built to demonstrate the proposed controller. Simulation and experimental results are presented to illustrate the effectiveness of the proposed controller. Therefore, it is possible to apply this result to control mobile robots in industrial applications.
Non-linear PID controller for trajectory tracking of a differential drive mobile robot
2020
The application of differential drive robots has grown from scientific research to broader industrial and commercial purposes. In order to Navigate the robot in difficult terrains, it must be well equipped with a robust controller with good path tracking ability and general stability. Typically, the wheeled mobile robot (WMR) can essentially be kinematically controlled by defining a route and determining the traveling time, speed and direction to get from one place to another. However, by ignoring the dynamic model of the robot, a purely kinematic model approach has been revealed to produce unrealistic results at higher speeds and loads. As a consequence, there are significant limitations to the applicability of solely kinematic systems to mobile robotics and hence, in recent years, there has been a trend towards the application of dynamic modelling. In this study, a simple but effective solution for the path tracking problem of a mobile robot using a PID controller is proposed. The method adopted is a trial and error technique with six tuning parameters for the robot to track a desired trajectory. The final mathematical derivation for a nonholonomic differential drive mobile robot was computationally simulated using MATLAB for both kinematic and dynamic models respectively. The controller was used to overcome the nonlinearity of the reference trajectory tracking as well as the speed of the DC motor adjustments. In order to evaluate the performance of the developed robot controller, tests were also carried out for different trajectories in terms of the initial and final conditions. The results show that the developed PID controller is responsive enough to be able to speed up when required to match the reference trajectory.
Selcuk University Journal of Engineering ,Science and Technology
In this study, the mathematical model of a nonholonomic vehicle was derived. A PID and kinematic based backstepping controller (KBBC) was designed for a differential drive mobile robot to be able to track a desired trajectory. The KBBC was used to overcome the nonlinearity of the trajectory tracking and the PID controllers was used for the DC motors' speeds adjustments. Responses of the vehicle's controller in the square shaped trajectory had obtained and results were graphically presented. The effectiveness of the designed controller has been discussed.
Robust control of wheeled mobile robot in presence of disturbances and uncertainties
14th International Conference on Sciences and Techniques of Automatic Control & Computer Engineering - STA'2013, 2013
This paper deals with the trajectory tracking control problem of nonholonomic wheeled mobile robot, in the presence of external disturbances and parameters uncertainties. The computed torque controller may be used to make convergence of WMR on desired trajectory. Due to the weak of performance against external disturbances, a sliding mode controller is presented. The sability of the controllers is proven by utilizing the Lyapunov stability theory.
Dynamic modeling and stabilization of wheeled mobile robot
Proceedings of the 5th Wseas International Conference on Dynamical Systems and Control, 2009
This paper presents the dynamic modeling of a nonholonomic mobile robot and the dynamic stabilization problem. The dynamic model is based on the kinematic one including nonholonomic constraints. The proposed control strategy allows to solve the control problem using linear controllers and only requires the robot localization coordinates. This strategy was tested by simulation using Matlab-Simulink.
2017
In the present research, the control of non-holonomic wheeled mobile robots in tracking a desired trajectory, when they are exposed to disturbances, unmodeled dynamics and uncertainties has been carried out. In section 1, given the existence of a term under the title of" Disturbance and unmodeled dynamics in robot model", a controller is designed to be resistant against the disturbance in robot models. Then by supposing the lack of information about the dynamic model matrices of robot, a sliding-mode—control-based adaptive cruise controller is designed in such a way that leads the robot to track a predetermined desired trajectory without using the values of the system matrices. Combining two robust and adaptive controllers and creating an adaptive controller resistant to disturbances in the system was the next achievement of the article. Finally, in order to consider the condition of operator saturation, the adaptive control law is designed such that given the uncertainty ...
A Novel Tracking Control Method for a Wheeled Mobile Robots
2001
In this paper, a novel path tracking control method is proposed for a nonholonomic mobile robot. The proposed controller is based on a bang-bang control technique, the concept of landing curve, and a biologically inspired neural dynamics model that is derived from Hodgkin and Huxley’s (1952) membrane equation. The acceleration constraints and the nonholonomic kinematics constraints are full respected in the controller design. The proposed tracking controller is capable of generating bounded real-time acceleration commands that can produce smooth, continuous robot velocities. Stability of the control system and the convergence of tracking errors to zero are rigorously proved using a Lyapunov stability theory. The effectiveness of the proposed algorithm is demonstrated by simulations with a two-wheel driven mobile robot.