Robust Path Tracking Control Research Articles

Robust path tracking control for quadrotors with experimental validation

Robust path tracking control for quadrotors with experimental validation

Robust path tracking control for quadrotors with experimental validation

In this paper, we consider the autonomous path tracking control problem of quadrotors with the presence of external disturbances and model parameter uncertainties change. A robust controller is derived and tested in simulation and practically on an AscTec Hummingbird quadrotor via H∞ optimal design approach. The stability analysis was obtained via a selected Lyapunov function. Simulation results are compared with that of integral backstepping controller. Practically, the H∞ controller was used to perform several manoeuvres such as take-off, square, circle, spiral and landing. Both simulation and practical results verified the stability and robustness of the proposed controller in the presence of external disturbances and model parameter uncertainties.

モデル予測制御とスライディングモード制御による四輪操舵駆動車両のロバスト経路追従制御

モデル予測制御とスライディングモード制御による四輪操舵駆動車両のロバスト経路追従制御

변속 무인 수중 잠수정을 위한 강인 경로 추적 제어

본 논문에서는 시간에 따라 종방향 속도가 변하는 무인 수중 잠수정의 경로 추적 제어기 설계 방법을 제안한다. 본 논문에서 제안한 경로 추적 제어기는 운동학적 제어기와 동역학적 제어기로 구성된다. 운동학적 제어기는 무인 수중 잠수정이 시간에 따라 속도가 변하는 기준 경로를 따라 가기 위해 종방향 속도와 yaw 각속도를 계산하고, 계산된 값이 동역학적 제어기의 기준 입력 값이 된다. 즉, 동역학적 제어기는 추진력과 회전력을 제어하여 무인 수중 잠수정의 종방향 속도와 yaw 각속도가 운동학적 제어기에서 계산한 값과 일치하도록 설계한다. 이 때 사용한 동역학적 제어기는 무인 잠수정의 옆 미끄럼 속도를 외란으로 가정하고, 종방향 속도와 yaw 각속도를 슬라이딩 모드 제어 기법을 이용하여 설계한다. 한편 설계된 제어기의 안정도 판별을 위해 Lyapunov 방법을 이용하여 제어기의 안정성을 보인다. 마지막으로, 컴퓨터 시뮬레이션을 이용하여 설계된 제어기의 성능을 검증한다. In this paper, we propose a robust path tracking control method for autonomous underwater vehicle with variable speed. The proposed path tracking controller consists of a kinematic controller and a dynamic controller. First, the kinematic controller computes the surge speed and yaw rate to follow the reference path with variable speed. Then the dynamic controller controls the thrust force and yaw torque to move the AUV actually. In the dynamic control, we assume that the sway speed is a disturbance. In addition the dynamic controller is designed based on sliding mode conrol. We also demonstrate the stability of the proposed control method by Lyapunov stability theory. Finally, simulation results illustrate the performance of the proposed control method.

Robust path tracking control of mobile robot via dynamic petri recurrent fuzzy neural network

This study focuses on the design of robust path tracking control for a mobile robot via a dynamic Petri recurrent fuzzy neural network (DPRFNN). In the DPRFNN, the concept of a Petri net (PN) and the recurrent frame of internal feedback loops are incorporated into a traditional fuzzy neural network (FNN) to alleviate the computation burden of parameter learning and to enhance the dynamic mapping of network ability. This five-layer DPRFNN is utilized for the major role in the proposed control scheme, and the corresponding adaptation laws of network parameters are established in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance without the requirement of detailed system information and the compensation of auxiliary controllers. In addition, the effectiveness of the proposed robust DPRFNN control scheme is verified by experimental results of a differential-driving mobile robot under different moving paths and the occurrence of uncertainties, and its superiority is indicated in comparison with a stabilizing control system.

Robust Tire Force Distribution with Velocity Suppression for Four Wheel Steering/Driving Cars

In this paper, a novel robust path tracking controller with tire distribution for 4WS/4WD vehicle is presented. The proposed control law prevents wheel force saturation by balancing four tire forces, while vehicle velocity is controlled so that it converges to the reference one as long as the required acceleration can be generated. If driving force is saturated due to high speed cornering vehicle velocity is automatically reduced by active control of lateral forces so that required centripetal force is decreased. Thus, the proposed method suppresses the vehicle trajectory deviation from the reference one. In addition, sliding mode controller assures the robustness with respect to the uncertainty of cornering power or road friction coefficient. Both tracking performance and robustness of the proposed method are shown through simulations.

ADAPTIVE ROBUST CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOTS

This paper develops methodologies for an adaptive robust path tracking control of a nonholonomic Wheeled Mobile Robot (WMR) with nonlinear driving characteristics and unknown dynamic parameters. To solve the problem of position/orientation tracking control of WMR, a novel robust kinematics control law is developed to steer the vehicle to asymptotically follow the desired trajectories. To compensate for dynamic effects associated with the dynamic models, an adaptive backstepping path tracking control law with robustness is designed to ensure asymptotic path tracking for the vehicle with unknown dynamic parameters and changeable time-varying payload. Simulation results are included to illustrate feasibility and effectiveness of the proposed control laws.