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Tytuł:
A self-tuning fuzzy PD controller for a wheeled mobile robot operating in the presence of faults
Autorzy:
Srebro, A.
Powiązania:
https://bibliotekanauki.pl/articles/115515.pdf
Data publikacji:
2011
Wydawca:
Fundacja na Rzecz Młodych Naukowców
Tematy:
fuzzy controller
mobile robot
nonholonomic system
trajectory tracking
fault tolerance
Opis:
This paper presents a self-tuning fuzzy PD controller designed to improve a control strategy for a wheeled mobile robot. The dynamic model of a two-wheeled mobile robot was implemented in Matlab/Simulink environment. In this paper the trajectory tracking problem for a mobile robot in the presence of positioning system faults is considered in detail. Mamdani fuzzy reasoning is used to tune the value of proportional gain Kp and derivative gain Kd of a PD controller. A few simulations comparing the classical PD controller with self-tuning fuzzy PD are reported to show advantage of the designed self-tuning controller.
Źródło:
Challenges of Modern Technology; 2011, 2, 4; 11-20
2082-2863
2353-4419
Pojawia się w:
Challenges of Modern Technology
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A Time optimal path planning for trajectory tracking of wheeled mobile robots
Autorzy:
Vivekananthan, R.
Karunamoorthy, L.
Powiązania:
https://bibliotekanauki.pl/articles/384765.pdf
Data publikacji:
2011
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
wheeled robot
time optimal
trajectory tracking
motion control
fuzzy logic algorithm
Matlab environment
Opis:
Avariety of approaches for trajectory tracking control of wheeled mobile robots have been implemented. This paper presents a model for a time optimal motion control based on fuzzy logic algorithm for a three wheeled nonholonomic mobile robot with desired function. Simplified kinematic equations of a differentially driven robot are designed to follow the path with evaluated linear and angular velocities. Here, the proposed kinematic model is based on a simple geometric approach for getting the desired position and orientation. The speeds are varied depending on the variations in the path and on the posture of the robot. The robot is subjected to move in a constrained workspace. The control architecture was developed based on fuzzy logic algorithm to obtain time optimal motion control of robot trajectory tracking. The kinematic model was done on Matlab software environment and profound impact on the ability of the nonholonomic mobile robot to track the path was evaluated.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 2; 35-41
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Analysis of Prediction Methods Applied to a Selected Road Vehicle Tracing System
Analiza metod predykcji trajektorii pojazdów drogowych zastosowanych w wybranym systemie poszukiwania
Autorzy:
Łukasik, Z.
Górska, M.
Powiązania:
https://bibliotekanauki.pl/articles/310740.pdf
Data publikacji:
2018
Wydawca:
Instytut Naukowo-Wydawniczy "SPATIUM"
Tematy:
road vehicles
prediction
vehicle trajectory
vehicle search system
road network
observation points
object tracking
pojazdy drogowe
predykcja
trajektoria ruchu pojazdu
system poszukiwania pojazdów
sieć dróg
punkty obserwacyjne
śledzenie obiektu
Opis:
The system which is developed in Department of Transport and Electrical Engineering UTH Rad. consists of collecting, analyzing and selecting data from existing observation units, and such to be installed in the future, including photo-radars, electronic fee collection and traffic monitoring cameras. The aim is tracking of objects distinguished by certain visual features. The present paper specifies the road net on chosen area and further, algorithms for the prediction of the continuations of vehicle tracks registered by the system are on consideration and assessed.
Działanie opracowywanego na Wydziale Transportu i Elektrotechniki UTH Rad. systemu poszukiwania pojazdów drogowych polega na kolekcji, analizie i selekcji danych uzyskanych z różnorodnych istniejących, a także dodatkowo zainstalowanych jednostek obserwacyjnych takich jak fotoradary, kamery monitorujące ruch uliczny lub bramki służące do automatycznego poboru opłat. Celem jest śledzenie obiektów o zadanych cechach dystynktywnych. W niniejszym artykule sprecyzowano sieć dróg na zadanym obszarze, a następnie rozpatrywane i oceniane są algorytmy predykcji dalszych tras obiektów – pojazdów drogowych, które zostały zanotowane przez system.
Źródło:
Autobusy : technika, eksploatacja, systemy transportowe; 2018, 19, 6; 915-918, CD
1509-5878
2450-7725
Pojawia się w:
Autobusy : technika, eksploatacja, systemy transportowe
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of an adaptive fuzzy variable structure compensator for the nonholonomic mobile robot in trajectory tracking task
Autorzy:
Begnini, M.
Bertol, W.
Martins, N. A.
Powiązania:
https://bibliotekanauki.pl/articles/971054.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
nonholonomic mobile robot
trajectory tracking
variable structure control
uncertainties and disturbances
fuzzy compensator
Lyapunov theory
Opis:
A robust adaptive kinematic control strategy, based on the methodology of variable structure control is considered in this paper. Because the dynamics of mobile robots is subject to uncertainties and disturbances, a fuzzy compensator is adopted to estimate them. In order to minimize the tracking errors and to attenuate the chattering phenomenon, an adaptation law for the fuzzy compensator is obtained by Lyapunov stability theory so as to asymptotically stabilize the control system as well as guarantee the convergence of the tracking errors. In terms of comparison with the boundary layer variable structure controller, simulations and experiments verify the feasibility and effectiveness of the proposed kinematic control strategy for the nonholonomic mobile robots under the incidence of uncertainties and disturbances.
Źródło:
Control and Cybernetics; 2018, 47, 3; 239-275
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Event-triggered adaptive neural network trajectory tracking control for underactuated ships under uncertain disturbance
Autorzy:
Su, Wenxue
Zhang, Qiang
Liu, Yufeng
Powiązania:
https://bibliotekanauki.pl/articles/34611659.pdf
Data publikacji:
2023
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
event-triggered control
underactuated marine surface vessels
adaptive neural network
trajectory tracking
finite-time
Opis:
An adaptive neural network (NN) event-triggered trajectory tracking control scheme based on finite time convergence is proposed to address the problem of trajectory tracking control of underdriven surface ships. In this scheme, both NNs and minimum learning parameters (MLPS) are applied. The internal and external uncertainties are approximated by NNs. To reduce the computational complexity, MLPs are used in the proposed controller. An event-triggered technique is then incorporated into the control design to synthesise an adaptive NN-based event-triggered controller with finite-time convergence. Lyapunov theory is applied to prove that all signals are bounded in the tracking system of underactuated vessels, and to show that Zeno behavior can be avoided. The validity of this control scheme is determined based on simulation results, and comparisons with some alternative schemes are presented.
Źródło:
Polish Maritime Research; 2023, 3; 119-131
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Finite horizon nonlinear predictive control by the Taylor approximation: Application to robot tracking trajectory
Autorzy:
Hedjar, R.
Toumi, R.
Boucher, P.
Dumur, D.
Powiązania:
https://bibliotekanauki.pl/articles/908454.pdf
Data publikacji:
2005
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
układ nieliniowy
układ ciągły
sterowanie predykcyjne
aproksymacja Taylora
śledzenie trajektorii
nonlinear continuous time predictive control
Taylor approximation
tracking trajectory and robot
Opis:
In industrial control systems, practical interest is driven by the fact that today’s processes need to be operated under tighter performance specifications. Often these demands can only be met when process nonlinearities are explicitly considered in the controller. Nonlinear predictive control, the extension of well-established linear predictive control to nonlinear systems, appears to be a well-suited approach for this kind of problems. In this paper, an optimal nonlinear predictive control structure, which provides asymptotic tracking of smooth reference trajectories, is presented. The controller is based on a finite–horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is that its implementation does not need to perform on-line optimization, and asymptotic tracking of smooth reference signal is guaranteed. An integral action is used to increase the robustness of the closed-loop system with respect to uncertainties and parameters variations. The proposed control scheme is first applied to planning motions problem of a mobile robot and, afterwards, to the trajectory tracking problem of a rigid link manipulator. Simulation results are performed to validate the tracking performance of the proposed controller.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2005, 15, 4; 527-540
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Kinematically optimal robust control of redundant manipulators
Autorzy:
Galicki, M.
Powiązania:
https://bibliotekanauki.pl/articles/266099.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
redundant robotic manipulator
task space trajectory tracking
robust optimal finite-time control
Lyapunov stability
manipulator
przestrzeń robocza manipulatora
Stabilność Lapunowa
Opis:
This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.
Źródło:
International Journal of Applied Mechanics and Engineering; 2017, 22, 4; 839-865
1734-4492
2353-9003
Pojawia się w:
International Journal of Applied Mechanics and Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Model predictive ship trajectory tracking system based on line of sight method
Autorzy:
Miller, Anna
Powiązania:
https://bibliotekanauki.pl/articles/27311431.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
model predictive control
MPC
ship control
autonomous ship
trajectory tracking
line of sight
LOS
kontrola statku
statek autonomiczny
śledzenie trajektorii
linia wzroku
kontrola predykcyjna modelu
Opis:
Maritime Autonomous Surface Ships (MASS) perfectly fit into the future vision of merchant fleet. MASS autonomous navigation system combines automatic trajectory tracking and supervisor safe trajectory generation subsystems. Automatic trajectory tracking method, using line-of-sight (LOS) reference course generation algorithm, is combined with model predictive control (MPC). Algorithm for MASS trajectory tracking, including cooperation with the dynamic system of safe trajectory generation is described. It allows for better ship control with steady state cross-track error limitation to the ship hull breadth and limited overshoot after turns. In real MASS ships path is defined as set of straight line segments, so transition between trajectory sections when passing waypoint is unavoidable. In the proposed control algorithm LOS trajectory reference course is mapped to the rotational speed reference value, which is dynamically constrained in MPC controller due to dynamically changing reference trajectory in real MASS system. Also maneuver path advance dependent on the path tangential angle difference, to ensure trajectory tracking for turns from 0 to 90 degrees, without overshoot is used. All results were obtained with the use of training ship in real–time conditions.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 5; art. no. e145763
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modeling and control of a skid-steering mobile platform with coupled side wheels
Autorzy:
Tchoń, K.
Zadarnowska, K.
Juszkiewicz, Ł.
Arent, K.
Powiązania:
https://bibliotekanauki.pl/articles/953057.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
wheeled mobile platform
dynamics
motion planning
trajectory tracking
koła
platforma mobilna
dynamika
planowanie ruchu
śledzenie trajektorii
Opis:
This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 807-818
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modified trajectory tracking guidance for artillery rocket
Autorzy:
Ożóg, Rafał Józef
Jacewicz, Mariusz Adam
Głębocki, Robert
Powiązania:
https://bibliotekanauki.pl/articles/2055031.pdf
Data publikacji:
2020
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
trajectory tracking
guidance
lateral thruster
Opis:
This paper contributes to a modified guidance scheme based on a trajectory tracking method which is dedicated for an artillery rocket with a finite set of single use solid propellant side thrusters. Frequency modulation of pulses was used to achieve effective firing logic. The proposed control law is applicable in the last phase of flight when the rocket reaches the vertex of the trajectory. A correction engine activation sequence was chosen in such a way that possibility of rocket axial unbalance is minimized due to motors firing. Numerical simulation results indicate that significant dispersion reduction was achieved and the number of activated side rocket thrusters is minimized.
Źródło:
Journal of Theoretical and Applied Mechanics; 2020, 58, 3; 611--622
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Non‐linear model‐based predictive control for trajectory tracking and control effort minimization in a smartphone‐based quadrotor
Autorzy:
García, Luis
Rosero, Esteban
Powiązania:
https://bibliotekanauki.pl/articles/27314228.pdf
Data publikacji:
2022
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
quadrotor
model-based predictive control
smartphone
trajectory tracking
energy consumption
Opis:
In this paper, the design and implementation of a nonlinear model‐based predictive controller (NMPC) for predefined trajectory tracking and to minimize the control effort of a smartphone‐based quadrotor are developed. The optimal control actions are calculated in each iteration by means of an optimal control algorithm based on the non‐linear model of the quadrotor, considering some aerodynamic effects. Control algorithm implementation and simulation tests are executed on a smartphone using the CasADi framework. In addition, a technique for estimating the energy consumed based on control signals is presented. NMPC controller performance was compared with other works developed towards the con‐ trol of quadrotors, based on an H∞ controller and an LQI controller, and using three predefined trajectories, where the NMPC average tracking error was around 50% lower, and average estimated power and energy consumption slightly higher, with respect to the H∞ and LQI controllers.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 4; 13--18
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimal sliding control of mobile manipulators
Autorzy:
Galicki, M.
Powiązania:
https://bibliotekanauki.pl/articles/201159.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
mobile manipulator
trajectory tracking
finite time control
Opis:
The paper adresses optimal control problem of mobile manipulators. Dynamic equations of those mechanisms are assuemd herein to be uncertain. Moreover, unbounded disturbances act on the mobile manipulator whose end-effector tracks a desired (reference) trajectory given in a task (Certesian) space. A compytionally efficient class of two-stage cascaded (hierarchchical) control algotithms based on both the transpose Jacobian matrix and transpose actuation matrix, has been proposed. The offered control laws involve to kinds of non-singular terminal sliding mode (TSM) manifolds, which were also introduced in the paper. The proposed class of cooperating sub-controllers is shown to be finite time stable be fulfilment of practically reasonable assumptions. The performance of the proposed control strategies is illustated on an exemplary mobile manipulator whose end-effector tracks desired trajectory.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 4; 777-788
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Podążanie za zadaną trajektorią grupy robotów kołowych z użyciem wirtualnych połączeń sprężysto-tłumiących
Trajectory Tracking of a Wheeled Robotic Group Connected with Virtual Spring-Damper Mesh
Autorzy:
Wiech, Jakub
Powiązania:
https://bibliotekanauki.pl/articles/27312455.pdf
Data publikacji:
2023
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
grupa robotów
roboty kołowe
podążanie za zadaną trajektorią
fizykomimetyka
sterowanie grupą robotów
robotic group
wheeled robots
trajectory tracking
physicomimetics
robotic group control
Opis:
W artykule przedstawiono rozwiązanie problemu śledzenia trajektorii przez grupę robotów kołowych w środowisku bez przeszkód. Śledzenie trajektorii rozumiane jest jako podążanie za punktem odniesienia przez geometryczny środek grupy, wraz z jednoczesnym utrzymaniem zadanej odległości między sąsiadującymi robotami. Zaproponowana metoda opiera się na wirtualnych siłach z wirtualnych połączeń sprężysto-tłumiących między robotami, co pozwala na śledzenie trajektorii grupy po samoorganizacji z zachowaniem jej pożądanego kształtu. Przedstawiona metoda sterowania została szczegółowo opisana wraz z opisem dynamiki i-tego robota oraz została przetestowana numerycznie i eksperymentalnie. W pracy przedstawiono wyniki badań numerycznych i eksperymentalnych oraz dyskusję i wnioski z nich wynikające. Wyniki pracy można rozszerzyć o praktyczne aplikacje związane ze śledzeniem trajektorii grupy robotów.
The article presents the solution to the problem of trajectory tracking of a self-organized group of wheeled robots in the environment without obstacles. The group of robots is tracking a trajectory realized as following a reference point by the geometric center of the group, as well as simultaneously, reaching and maintaining a given distance between neighboring robots. The proposed method is based on virtual forces from virtual spring-damper connections between robots, which allows for the trajectory tracking of the previously self-organized group while maintaining its desired shape. The presented method of control is described in detail with the description of i-th robot dynamics and was tested numerically and experimentally. The paper presents the results of numerical tests and experimental research and ends with discussion and conclusions. The paper’s results could be expanded for applications related to robotic group trajectory tracking.
Źródło:
Pomiary Automatyka Robotyka; 2023, 27, 3; 107--117
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Research on the ACC Autonomous Car
Autorzy:
Pozna, C.
Troester, F.
Powiązania:
https://bibliotekanauki.pl/articles/384467.pdf
Data publikacji:
2007
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
autonomous car
driving robot
control system architecture
trajectory tracking
Opis:
The aim of this paper is to present a general view about the autonomous driving researches made in the University of Applied Science Heilbronn, Germany. More exactly we will present aspects about our autonomous car design and construction. We will point out the original elements of our achievements: the driving robot construction and the control system structure design. This will be also the occasion to focus on the tactical level of the mentioned control system in order to present results on the trajectory tracking strategies.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2007, 1, 1; 32-40
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust continuous third-order finite time sliding mode controllers for exoskeleton robot
Autorzy:
Fellag, Ratiba
Guiatni, Mohamed
Hamerlain, Mustapha
Achour, Noura
Powiązania:
https://bibliotekanauki.pl/articles/1845025.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
exoskeleton robot
higher order
sliding control
homogeneous
robust
trajectory tracking
rehabilitation
Opis:
In this work, continuous third-order sliding mode controllers are presented to control a five degrees-of-freedom (5-DOF) exoskeleton robot. This latter is used in physiotherapy rehabilitation of upper extremities. The aspiration is to assist the movements of patients with severe motor limitations. The control objective is then to design adept controllers to follow desired trajectories smoothly and precisely. Accordingly, it is proposed, in this work, a class of homogeneous algorithms of sliding modes having finite-time convergence properties of the states. They provide continuous control signals and are robust regardless of non-modeled dynamics, uncertainties and external disturbances. A comparative study with a robust finite-time sliding mode controller proposed in literature is performed. Simulations are accomplished to investigate the efficacy of these algorithms and the obtained results are analyzed.
Źródło:
Archive of Mechanical Engineering; 2021, LXVIII, 4; 395-414
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
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