Robust Position Control for Two Wheels Mobile Robotic System
Robust control has proven to be successful nonlinear plant control in many engineering applications. This paper presents robust controller design method for trajectory tracking two wheels mobile robotic system. Aim of the paper is to ensure stability and performance also by uncertainties, which can be presented as road undulation or side wind by outside operation. The proposed method is based on the Small Gain Theory and known M-delta structure of a closed loop system in the frequency domain. An example illustrate effectiveness of the proposed control for uncertain model of two wheels mobile robotic system, which can track the reference trajectory also by uncertainty present, however with lower performance.
Copyright © 2015 Praise Worthy Prize - All rights reserved.
J. L. Jones and A. M. Flynn, Mobile Robots: Inspiration to Implementation, Wellesley, MA: A. K. Peters, 1993.
K.D. Do, Z. P. Jiang. J. Pan: A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots, Institute of Electrical and Electronics Engineers, New York, NY, ETATS-UNIS (1989-2004)
L Almeida. Modelizac¸ao de pequenos robots autonomos: um exemplo. In Revista do DETUA, Vol.2, No 1, pages 133–140, Aveiro, Portugal, Set 1997..
L. Almeida, A. Mota, P. Fonseca. Comparing control strategies for line-tracking robots. In Proceedings of AMC’98, IEEE 5th Int. Workshop on Advanced Motion Control, pages 542 – 547, Coimbra, Portugal, Jun/july 1998.
P. Aparicio, J. Ferreira, P. Raposo, P. Lima. Barbaneta - a modular autonomous vehicle. In 3rd IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 1998.
Maher, M., Imed, H., Jilani, K., Managing the redundancy of actuation of a mobile robot, (2013) International Review of Automatic Control (IREACO), 6 (1), pp. 83-88.
C. Canudas de Wit. , nonlinear control design for mobile robots. In The International Journal of Robotics Research, pages 121–156, France, Set 1997.
D. Chwa, S. K. Hong and B. Song, ”Robust posture stabilization of wheeled mobile robots in polar coordinates”, The 17th International Symposium on Mathematical Theory of Networks and Systems, pp. 343-348, 2006.
Samer Yahya, M. Moghavvemi, Haider A. F. Mohamed, A Review of Singularity Avoidance in the Inverse Kinematics of Redundant Robot Manipulators, (2011) International Review of Automatic Control (IREACO), 4 (5), pp. 807-814.
L. Feng., A model-reference adaptive motion controller for a differential-drive mobile robot, Robotics and Automation. Proceedings., IEEE International Conference, vol. 4, pp 3091-3096, 1994
Bouchiba, F., Nouibat, W., Neuro-fuzzy navigation of a mobile robot in an unknown environment, (2015) International Review of Automatic Control (IREACO), 8 (3), pp. 220-227.
F. Vanni, A. P. Aguiar, A. M. Pascoal. Cooperative path-following of underactuated autonomous marine vehicle with logic-based communication. In Proc. of NGCUV’08 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, pages 1–6, Lisbon, Portugal, Apr 2008.
P. Coelho and U. Nunes, ”Path Following Control of Mobile Robots in Presence of Uncertainties”, IEEE Transactions on Robotics, vol. 21(2), pp. 252-261, 2005
S. Skogestad, I. Postlethwaite: Multivariable feedback control: analysis and design, John Wiley and Sons, 1996
K. Zhou, J.C. Doyle, K. Glover: Robust and optimal control, Prentice hall, 1996
J. Paulusova, L. Orlicky, L. Korosi. PID Controller Tuning with Soft Computing Techniques. In MENDEL 2013 : 19th International Conference on Soft Computing; Brno, Czech Republic; 26-28 June 2013. Brno : Brno University of Technology, 2013, s.391-396. ISBN 978-80-214-4755-4.
Shouman, M.S., El Bayoumi, G.M., Adaptive robust control of satellite attitude system, (2015) International Review of Aerospace Engineering (IREASE), 8 (1), pp. 35-42.
Ouchatti, A., Abbou, A., Akherraz, M., Taouni, A., Induction motor controller using fuzzy MRAS and backstepping approach, (2014) International Review of Electrical Engineering (IREE), 9 (3), pp. 511-518.
- There are currently no refbacks.
Please send any question about this web site to email@example.com
Copyright © 2005-2020 Praise Worthy Prize