In this paper, a robust model predictive control (MPC) scheme using neural network-based optimization has been developed to stabilize a physically constrained mobile robot. By applying a state-scaling transformation, the intrinsic controllability of the mobile robot can be regained by incorporation into the control input $u_1$ an additional exponential decaying term. An MPC-based control method is then designed for the robot in the presence of external disturbances. The MPC optimization can be formulated as a convex nonlinear minimization problem and a primal–dual neural network is adopted to solve this optimization problem over a finite receding horizon. The computational efficiency of MPC has been improved by the proposed neurodynamic approach. Experimental studies under various dynamic conditions have been performed to demonstrate the performance of the proposed approach.

/pdf/robust-stabilization-of-a-wheeled-mobile-robot-using-model-57y60gz46y.pdf

Robust Stabilization of a Wheeled Mobile Robot Using Model Predictive Control Based on Neurodynamics Optimization

Robust adaptive tracking control of wheeled mobile robot

This paper develops an image-based visual servoing (IBVS) control strategy using model predictive control (MPC) to stabilize a physically constrained mobile robot In IBVS strategy, ambiguity, and degeneracy problems of the homography and fundamental matrix-based algorithms can be avoided Moreover, a synthetic error vector incorporating the advantages of IBVS and position-based visual servoing is defined that includes both the robot angle and image coordinates By using linear system control theory, the kinematics of nonholonomic chained robotic systems can be transformed into a skew-symmetric form, and through introducing an exponential decay phase, the uncontrollable problem can be solved Then, an MPC strategy is developed and, thereafter, iteratively transformed into a constrained quadratic programming (QP) problem Subsequently, we utilize a primal-dual neural network (PDNN) to solve this QP problem By using PDNN optimization, the cost function of MPC effectively converges to the exact optimal values Finally, experimental studies on the actual robotic systems have been conducted to demonstrate the performance of the proposed approach

Visual Servoing of Constrained Mobile Robots Based on Model Predictive Control

Adaptive fuzzy output-feedback control for output constrained nonlinear systems in the presence of input saturation

This article presents a coordinated control approach for a tractor-trailer vehicle such that a satisfactory trajectory tracking performance can be achieved, simultaneously guaranteeing vehicle kinematics restriction and dynamics maneuvers. The coordinated control is consisted of multilevel controllers, each of which is constructed by different algorithms to better clarify their specific advantages and defects, thereby establishing the composition principles of this multilevel architecture. In this regard, on the level of kinematics, linear quadratic regulator and model predictive control (MPC) are used to design the posture controller separately; on the level of dynamics, sliding mode control and global terminal sliding mode control (GTSMC) are introduced to design the dynamic controller for the tracking of the desired velocities generated online. The simulation results suggest that the combination by MPC and GTSMC can offer more favorable control performance for such kind of sophisticated vehicle system.

Trajectory tracking control for tractor-trailer vehicles: a coordinated control approach

This paper is concerned with the trajectory tracking control of wheeled mobile robot in the presence of nonholonomic constraint on the robot kinematics and unpredictable uncertainties related to ro...

Adaptive fuzzy logic-based sliding mode control for a nonholonomic mobile robot in the presence of dynamic uncertainties

The problem of trajectory tracking control for a nonholonomic mobile robot is discussed in this study, in which both the dynamic behaviors of disturbance adaptability and the velocity saturation constraint are considered simultaneously. To realize this objective, a double closed-loop control structure is presented. On the outer loop, an improved velocity saturated controller based on hyperbolic tangent function is established; on the inner loop, an integral sliding mode controller, which possesses a fast transient response property with less steady-state error, is developed. In addition, to alleviate the inherent chattering behavior of sliding mode technology and enhance the external disturbance adaptability, an adaptive scheme as a disturbance observer is adopted by which one could estimate the uncertain disturbance acting on the mobile wheels rapidly. Simulation results verify the effectiveness of the proposed control theories.

Disturbance Observer-Based Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robot Subject to Saturated Velocity Constraint

In this study, we focus on the trajectory tracking control problem of a wheeled mobile robot (WMR) in an uncertain dynamic environment. Concerning the fact that the upper boundary may be usually achieved in prior according to the physical properties of the terrain, this crucial message is utilized to construct the controllers. Firstly, a dynamic model for WMR including the rolling resistance is presented, whose state variables are longitudinal and rotational velocities, as well as the rotational angle of the mobile platform. Secondly, with the aid of backstepping technique, the robust controllers based on the upper boundary are proposed and the globally asymptotic stability of the closed-loop system is proven by the Lyapunov theory in the following. Lastly, a saturation function is applied to replace the signum function, by which the inherent chattering can be suppressed greatly. Numerical simulation results demonstrate that the proposed controllers with upper bound in prior possess robustness characteristics which yields potentially valuable applications for the mobile robot, especially in the unstructured environment.

/pdf/backstepping-based-robust-control-for-wmr-with-a-boundary-in-46x4x28ejp.pdf

Backstepping-based Robust Control for WMR with A Boundary in Prior for the Uncertain Rolling Resistance

Simultaneous balancing and trajectory tracking control for two-wheeled inverted pendulum vehicles: A composite control approach

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Papers

Adaptive fuzzy logic-based sliding mode control for a nonholonomic mobile robot in the presence of dynamic uncertainties

Disturbance Observer-Based Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robot Subject to Saturated Velocity Constraint

Backstepping-based Robust Control for WMR with A Boundary in Prior for the Uncertain Rolling Resistance

Simultaneous balancing and trajectory tracking control for two-wheeled inverted pendulum vehicles: A composite control approach