Optimal trajectory tracking control for a wheeled mobile robot using backstepping technique

This work studies an optimal trajectory tracking of a wheeled mobile robot with the objective of minimizing energy consumption. First, the mathematical model, which takes into account the kinematic model of the mobile robot and the dynamic model of the actuators is presented. Then, a backstepping controller is designed and its parameters are tuned to satisfy several strict criteria such as rapid convergence, matching desired trajectory, and minimizing energy. For that, two cost functions were investigated and the best one has been selected. The significant reduction in energy losses achieved for all the proposed motion scenarios proves the effectiveness of our approach

Intelligent Adaptive Motion Control for Ground Wheeled Vehicles

In this paper a new intelligent adaptive control is applied to solve a problem of motion control of ground vehicles with two independent wheels actuated by a differential drive. The major objective of this work is to obtain a motion control system by using a new fuzzy inference mechanism where the Lyapunov’s stability can be assured. In particular the parameters of the kinematical control law are obtained using an intelligent Fuzzy mechanism, where the properties of the Fuzzy maps have been established to have the stability above. Due to the nonlinear map of the intelligent fuzzy inference mechanism (i.e. fuzzy rules and value of the rule), the parameters above are not constant, but, time after time, based on empirical fuzzy rules, they are updated in function of the values of the tracking errors. Since the fuzzy maps are adjusted based on the control performances, the parameters updating assures a robustness and fast convergence of the tracking errors. Also, since the vehicle dynamics and kinematics can be completely unknown, a dynamical and kinematical adaptive control is added. The proposed fuzzy controller has been implemented for a real nonholonomic electrical vehicle. Therefore system robustness and stability performance are verified through simulations and experimental studies

Integral Backstepping Approach for Mobile Robot Control

This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control

Backstepping Controller for Mobile Robot in Presence of Disturbances and Uncertainties

The objective of this work is to devise an effective control system for addressing the trajectory tracking challenge in nonholonomic mobile robots. Two primary control approaches, namely kinematic and dynamic strategies, are explored to achieve this goal. In the kinematic control domain, a backstepping controller (BSC) is introduced as the core element of the control system. The BSC is utilized to guide the mobile robot along the desired trajectory, leveraging the robot’s kinematic model. To address the limitations of the kinematic control approach, a dynamic control strategy is proposed, incorporating the dynamic parameters of the robot. This dynamic control ensures real-time control of the mobile robot. To ensure the stability of the control system, the Lyapunov stability theory is employed, providing a rigorous framework for analyzing and proving stability. Additionally, to optimize the performance of the control system, a genetic algorithm is employed to design an optimal control law. The effectiveness of the developed control approach is demonstrated through simulation results. These results showcase the enhanced performance and efficiency achieved by the proposed control strategies. Overall, this study presents a comprehensive and robust approach for trajectory tracking in nonholonomic mobile robots, combining kinematic and dynamic control strategies while ensuring stability and performance optimization

Comprehensive review on controller for leader-follower robotic system

985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies

Robust Backstepping Tracking Control of Mobile Robot Based on Nonlinear Disturbance Observer

This paper presents a robust backstepping control (BC) method based on nonlinear disturbance observer (NDOB) for trajectory tracking of the nonholonomic wheeled mobile robot (WMR) in the presence of external disturbances and parameters uncertainties. At first, a bounded Fuzzy logic based backstepping controller (BFLBC) is designed to control the WMR without considering the effects of the external disturbances and the parameters uncertainties. Typically, the conventional BC controller depends upon the state tracking errors analysis, where unbounded velocity signal is produced for the applications that have huge tracking errors. Therefore, a fuzzy logic controller (FLC) is introduced in this research in order to normalize the state tracking errors, so that the input errors to the BC are bounded to a finite interval. Finally, the designed BFLBC is integrated with the nonlinear disturbance observer in order to attenuate the external disturbances and model uncertainties. The simulation results show the effectiveness of the proposed controller to generate a bounded velocity signal as well as to stabilize the tracking errors to zero. In addition, the results prove that the proposed controller provide an excellent disturbance attenuation as well as robustness against the parameters uncertainties

Sliding Mode Control for Trajectory Tracking of a Non-holonomic Mobile Robot using Adaptive Neural Networks

In this work a sliding mode control method for a non-holonomic mobile robot using an adaptive neural network is proposed. Due to this property and restricted mobility, the trajectory tracking of this system has been one of the research topics for the last ten years. The proposed control structure combines a feedback linearization model, based on a nominal kinematic model, and a practical design that combines an indirect neural adaptation technique with sliding mode control to compensate for the dynamics of the robot. A neural sliding mode controller is used to approximate the equivalent control in the neighbourhood of the sliding manifold, using an online adaptation scheme. A sliding control is appended to ensure that the neural sliding mode control can achieve a stable closed-loop system for the trajectory-tracking control of a mobile robot with unknown non-linear dynamics. Also, the proposed control technique can reduce the steady-state error using the online adaptive neural network with sliding mode control; the design is based on Lyapunov’s theory. Experimental results show that the proposed method is effective in controlling mobile robots with large dynamic uncertaintiesFil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

Distributed coordinate tracking control of multiple wheeled mobile robots

In this thesis, distributed coordinate tracking control of multiple wheeled-mobile robots is studied. Control algorithms are proposed for both kinematic and dynamic models. All vehicle agents share the same mechanical structure. The communication topology is leader-follower topology and the reference signal is generated by the virtual leader. We will introduce two common kinematic models of WMR and control algorithms are proposed for both kinematic models with the aid of graph theory. Since it is more realistic that the control inputs are torques so dynamic extension is studied following by the kinematics. Torque controllers are designed with the aid of backstepping method so that the velocities of the mobile robots converge to the desired velocities. Because of the fact that in practice, the inertial parameter of WMR maybe not exactly known or even unknown, so both dynamics with and without inertial uncertainties are considered in this thesis