Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches
This study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method....
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| Veröffentlicht in: | Robotica 2018-10, Vol.36 (10), p.1551-1570 |
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| container_title | Robotica |
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| creator | Mirzaeinejad, Hossein Shafei, Ali Mohammad |
| description | This study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers. |
| doi_str_mv | 10.1017/S0263574718000565 |
| format | Article |
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Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers.</description><subject>Computer simulation</subject><subject>Constraint modelling</subject><subject>Control systems</subject><subject>Dynamic models</subject><subject>Firearm laws & regulations</subject><subject>Kinematics</subject><subject>Maneuvers</subject><subject>Multivariable control</subject><subject>Predictive control</subject><subject>Recursive methods</subject><subject>Robots</subject><subject>Sliding mode control</subject><subject>Tracking control</subject><subject>Tracking errors</subject><subject>Trajectory control</subject><issn>0263-5747</issn><issn>1469-8668</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2018</creationdate><recordtype>article</recordtype><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNp1UEtOwzAQtRBIlMIB2EViHRgnseOwqyp-UhELYB059rhNSeNgu6DuuAM35CQktBILxGpG836aR8gphXMKNL94hISnLM9yKgCAcbZHRjTjRSw4F_tkNMDxgB-SI--XADSlWT4ib_dWY1O380i2OgpOLlEF6zbDql6Gu7JtcLaJrIlkFN5t_L5AbFBHK1vVDUbOVjZcRjd1Vfmvj89J12HT_Lh1DnWtQm3buJK-V8iuc1aqBfpjcmBk4_FkN8fk-frqaXobzx5u7qaTWaxSmoeYiQwYVVKAoEXCCw2yygpM0spIyVkiCqN5xkEbNJKhYEYmCdOs_xYhEywdk7Otbx_8ukYfyqVdu7aPLBMoEsYLKKBn0S1LOeu9Q1N2rl5JtykplEO95Z96e02608hV5Wo9x1_r_1XfGX5-Jg</recordid><startdate>201810</startdate><enddate>201810</enddate><creator>Mirzaeinejad, Hossein</creator><creator>Shafei, Ali Mohammad</creator><general>Cambridge University Press</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7XB</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>F28</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0N</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope></search><sort><creationdate>201810</creationdate><title>Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches</title><author>Mirzaeinejad, Hossein ; 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To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. 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| identifier | ISSN: 0263-5747 |
| ispartof | Robotica, 2018-10, Vol.36 (10), p.1551-1570 |
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| language | eng |
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| source | Cambridge University Press Journals Complete |
| subjects | Computer simulation Constraint modelling Control systems Dynamic models Firearm laws & regulations Kinematics Maneuvers Multivariable control Predictive control Recursive methods Robots Sliding mode control Tracking control Tracking errors Trajectory control |
| title | Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches |
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