DESIGNING A ROBUST ADAPTIVE TRACKING BACKTEPPING CONTROLLER CONSIDERING ACTUATOR SATURATION FOR A WHEELED MOBILE ROBOT TO COMPENSATE UNKNOWN SLIPPAGE
Author affiliations
DOI:
https://doi.org/10.15625/1813-9663/36/2/14807Keywords:
Actuator Saturation, Backtepping, Nonholonomic, Wheeled Mobile Robot, Unknown SlippageAbstract
This article highlights a robust adaptive tracking backstepping control approach for a nonholonomic wheeled mobile robot (WMR) by which the bad problems of both unknown slippage and uncertainties are dealt with. The radial basis function neural network (RBFNN) in this proposed controller assists unknown smooth nonlinear dynamic functions to be approximated. Furthermore, a technical solution is also carried out to avoid actuator saturation. The validity and efficiency of this novel controller, finally, are illustrated via comparative simulation results.Metrics
References
Xin L, et al., 2016. Robust adaptive tracking control of wheeled mobile robot. Robotics and Autonomous Systems, 78: 36-48.
Li Y, Wang Z, Zhu L: Adaptive neural network PID sliding mode dynamic control of nonholonomic mobile robot. Proceedings of the 2010 IEEE International Conference on Information and Automation, Harbin, China, June 2010, pp. 753-757.
Chwa D, 2004. Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates. IEEE Transactions on Control Systems Technology, 12(4): 637-644.
Kim DH, Oh JH, 1999. Tracking control of a two-wheeled mobile robot using input–output linearization. Control Engineering Practice, 7(3): 369-373.
Hou ZG, et al., 2009. Adaptive control of an electrically driven nonholonomic mobile robot via backstepping and fuzzy approach. IEEE Transactions on Control Systems Technology, 17(4): 803-815.
Sidek N, Sarkar N, 2008. Dynamic modeling and control of nonholonomic mobile robot with lateral slip. Third International Conference on Systems (icons 2008), pp. 35-40.
Nguyen T, Le L, 2018. Neural network-based adaptive tracking control for a nonholonomic wheeled mobile robot with unknown wheel slips, model uncertainties, and unknown bounded disturbances. Turkish Journal of Electrical Engineering & Computer Sciences, 26(1): 378-392.
Nguyen T, et al., 2018. Neural network-based adaptive sliding mode control method for tracking of a nonholonomic wheeled mobile robot with unknown wheel slips, model uncertainties, and unknown bounded external disturbances. Acta Polytechnica Hungarica, 15(2):103-123.
Tinh Nguyen, Hung Linh Le, Neural network-based adaptive tracking control for a nonholonomic wheeled mobile robot subject to unknown wheel slips, Tạp chí tin học và điều khiển, vol. 33, no. 1, pp. 1-17, 2017.
Nguyễn Văn Tính “Nghiên cứu phát triển một số thuật toán điều khiển rô bốt di động có tính đến ảnh hưởng của trượt bánh xe”. Luận án Tiến sĩ, 2018, Học viện KH&CN, Viện Hàn lâm KH&CN Việt Nam.
Nguyena T, et al., 2019. A gaussian wavelet network-based robust adaptive tracking controller for a wheeled mobile robot with unknown wheel slips. International Journal of Control, 92(11): 2681-2692.
Gao H, et al., 2014. Adaptive motion control of wheeled mobile robot with unknown slippage. International Journal of Control, 87(8): 1513-1522.
Fang H, et al., 2006. Trajectory tracking control of farm vehicles in presence of sliding. Robotics and Autonomous Systems, 54(10): 828-839.
Ryu JC, Agrawal SK, 2011. Differential flatness-based robust control of mobile robots in the presence of slip. The International Journal of Robotics Research, 30(4): 463-475.
Yoo SJ, 2012. Approximation-based adaptive control for a class of mobile robots with unknown skidding and slipping. International Journal of Control, Automation and Systems, 10(4): 703-710.
Yoo SJ, 2013. Adaptive neural tracking and obstacle avoidance of uncertain mobile robots with unknown skidding and slipping. Information Sciences, 238: 176-189.
Kang HS, et al., 2013. Generalized extended state observer approach to robust tracking control for wheeled mobile robot with skidding and slipping. International Journal of Advanced Robotic Systems, 10(3): 1-10.
Tian Y, Sarkar N, 2014. Control of a mobile robot subject to wheel slip. Journal of Intelligent & Robotic Systems, 74: 915-929.
Faer GH, et al., 2009. Vehicle sideslip estimation: Design, implementation, and experimental validation. IEEE Control Systems, 29(5): 36-52.
Lenain R, et al., 2010. Mixed kinematic and dynamic sideslip angle observer for accurate control of fast off-road mobile robots. Journal of Field Robotics, 27(2): 181-196.
Li L, Wang FY, Zhou Q, 2006. Integrated longitudinal and lateral tire/road friction modeling and monitoring for vehicle motion control. IEEE Transactions on Intelligent Transportation Systems, 7(1): 1-19.
Khan H, et al., 2015. Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking. Frontiers of Information Technology & Electronic Engineering, 16(2):166-172.
Dakhlallah J, et al., 2008. Tire-road forces estimation using extended kalman filter and sideslip angle evaluation. 2008 American control Conference, pp. 4597-4602.
Kanamori M, Saga T, 2017. Optimization of anti-windup for nonlinear systems with actuator saturation. IFAC-Papers OnLine, 50(1): 747-752.
Jang JO, 2009. Neuro-fuzzy networks saturation compensation of DC motor systems. Mechatronics, 19(4): 529-534.
Li ZS, Mo XQ, Guo SJ, et al., 2016. 4-degree-of-freedom anti-windup scheme for plants with actuator saturation. Journal of Process Control, 47: 111-120.
Saberi A, Lin Z, Teel AR, 1996. Control of linear systems with saturating actuators. IEEE Transactions on Automatic Control, 41(3): 368-378.
Turner MC, Kerr M, 2018. A nonlinear modification for improving dynamic anti-windup compensation. European Journal of Control, 41: 44-52.
Wang L, Chai T, Zhai L, 2009. Neural-network-based terminal sliding-mode control of robotic manipulators including actuator dynamics. IEEE Transactions on Industrial Electronics, 56(9): 3296-3304.
Nguyen K, et al., 2018. Adaptive antisingularity terminal sliding mode control for a robotic arm with model uncertainties and external disturbances. Turkish Journal of Electrical Engineering & Computer Sciences, 26(6): 3224-3238.
Slotine JJE, Li W, et al., 1991. Applied nonlinear control. Prentice hall Englewood Cliffs, NJ.
Hoang NB, Kang HJ, 2016. Neural network-based adaptive tracking control of mobile robots in the presence of wheel slip and external disturbance force. Neurocomputing, 188: 12-22.
Downloads
Published
How to Cite
Issue
Section
License
1. We hereby assign copyright of our article (the Work) in all forms of media, whether now known or hereafter developed, to the Journal of Computer Science and Cybernetics. We understand that the Journal of Computer Science and Cybernetics will act on my/our behalf to publish, reproduce, distribute and transmit the Work.2. This assignment of copyright to the Journal of Computer Science and Cybernetics is done so on the understanding that permission from the Journal of Computer Science and Cybernetics is not required for me/us to reproduce, republish or distribute copies of the Work in whole or in part. We will ensure that all such copies carry a notice of copyright ownership and reference to the original journal publication.
3. We warrant that the Work is our results and has not been published before in its current or a substantially similar form and is not under consideration for another publication, does not contain any unlawful statements and does not infringe any existing copyright.
4. We also warrant that We have obtained the necessary permission from the copyright holder/s to reproduce in the article any materials including tables, diagrams or photographs not owned by me/us.
