Composite state variable based nonlinear backstepping design for the underactuated TORA system

A nonlinear vibration controller is proposed for the translational oscillators with rotating actuator (TORA) system with the recursive technology. A composite state variable (CSV) is defined for the TORA system to start the recursive process. The design procedure treats the some state variables as virtual control inputs to design the virtual controllers step by step until the nonlinear vibration controller is obtained. The system stability is studied via a stability theorem and simulation results show the validity of the proposed controller

Nonlinear backstepping design for the underactuated TORA system

The nonlinear feedback cascade model of the underactuated translational oscillators with rotating actuator is obtained through a collocated partial feedback linearization and a global change of coordinates. A nonlinear controller is designed with the backsteping technology, which treats the state variables as virtual control inputs to design the virtual controllers step by step. The system stability is proved with the Lyapunov stability theorem. The simulation results show the system under any initial states can be asymptotically stabilized to the origin and the controller has a good control performance

Mobile Robot Path Following Controller Based On the Sirms Dynamically Connected Fuzzy Inference Model

This paper presents a simple and effective way to implement a path following controller for a differential drive wheeled mobile robot based on the single input rule modules (SIRMs) dynamically connected fuzzy inference model. The control of the mobile robot is divided into two control actions performed in parallel; the heading and the velocity controller. For the heading controller, each input item is assigned with a SIRM and a dynamic importance degree (DID). The velocity controller structure was modified to simplify the design and to fulfill the requirements of the path following method. Here, a common DID is used. The SIRMs and the dynamic importance degrees are designed such that the angular velocity control takes the highest priority over the linear velocity control of the mobile robot. By using the SIRMs and the dynamic importance degrees, the priority orders of the controls are automatically adjusted according to navigation situations. The proposed fuzzy controller has a simple and intuitively understandable structure, and executes the two control actions entirely in parallel. Simulation results show that the proposed fuzzy controller can drive a mobile robot smoothly with a high precision through a series of waypoints to attain its final target in short time

A Combined H2/Sliding Mode Controller Design for a TORA System

In this work, the control of Translational Oscillations with a Rotational Actuator (TORA) system is presented in this paper. The optimal sliding mode controller is proposed to control the two DOF underactuated mechanical system. The nonlinear coupling from the rotational to the translational motion is the main problem that faces the controller design. The H2 sliding mode controller is designed to give a better performance if only sliding mode control is used. The results illustrate that the proposed H2 sliding mode controller can achieve the stabilization of the system with the variation in system parameters and disturbance

Mobile Robot Path Following Controller Based On the Sirms Dynamically Connected Fuzzy Inference Model

This paper presents a simple and effective way to implement a path following controller for a differential drive wheeled mobile robot based on the single input rule modules (SIRMs) dynamically connected fuzzy inference model. The control of the mobile robot is divided into two control actions performed in parallel; the heading and the velocity controller. For the heading controller, each input item is assigned with a SIRM and a dynamic importance degree (DID). The velocity controller structure was modified to simplify the design and to fulfill the requirements of the path following method. Here, a common DID is used. The SIRMs and the dynamic importance degrees are designed such that the angular velocity control takes the highest priority over the linear velocity control of the mobile robot. By using the SIRMs and the dynamic importance degrees, the priority orders of the controls are automatically adjusted according to navigation situations. The proposed fuzzy controller has a simple and intuitively understandable structure, and executes the two control actions entirely in parallel. Simulation results show that the proposed fuzzy controller can drive a mobile robot smoothly with a high precision through a series of waypoints to attain its final target in short time