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Comparative Application of Model Predictive Control Strategies to a Wheeled Mobile Robot

Hoai Nam Huynh, Olivier Verlinden, Alain Vande Wouwer
2017 Journal of Intelligent and Robotic Systems  
This paper reports on the application of predictive control strategies to a wheeled mobile robot.  ...  All three control strategies offer satisfactory reference tracking but MPC allows a reduction of the energy consumption of up to 70 % as a result of setpoint anticipation.  ...  In this study, using a T-filter would not be useful as the wheeled mobile robot moved on a smooth surface and an integrator was already embedded into the control law to reject disturbance.  ... 
doi:10.1007/s10846-017-0500-2 fatcat:wzyizm66ijfixobabmhalrntbi

Robust Tracking Control of Mobile Robot Formation with Obstacle Avoidance

Tiantian Yang, Zhiyuan Liu, Hong Chen, Run Pei
2007 Journal of Control Science and Engineering  
We consider the formation control problem of multiple wheeled mobile robots with parametric uncertainties and actuator saturations in the environment with obstacles.  ...  And in the framework of LMI optimization, a distributed moving horizon control scheme is formulated as online solving each optimal control problem at each sampling time.  ...  Our second main result concerns moving horizon formation control of multiple mobile robots with parametric uncertainties and actuator saturations.  ... 
doi:10.1155/2007/51841 fatcat:pfwapddsrffuhhm6ycozsk4q3a

Model Predictive Control based on LMIs Applied to an Omni-Directional Mobile Robot

Humberto X. Araújo, André G.S. Conceição, Gustavo H.C. Oliveira, Jônatas Pitanga
2011 IFAC Proceedings Volumes  
The paper presents a methodology for state feedback MPC synthesis applied to the trajectory tracking control problem of a three wheeled omnidirectional mobile robot.  ...  It is shown that MPC concepts well established for robot applications, for instance, the use of open loop predictions, receding horizon control, constraints manipulation, are preserved in this new formulation  ...  is used to control the omni-directional robot with 3 wheels.  ... 
doi:10.3182/20110828-6-it-1002.03696 fatcat:4nrnayd7szbfjar3orrxwaw5ra

MPC based motion control of car-like vehicle swarms

Wei Xi, John S. Baras
2007 2007 Mediterranean Conference on Control & Automation  
Two Model Predictive Control (MPC) based 'track following' control approaches are then proposed to deal with the multiple constraints present in practice; for example, actuator saturation, local collision  ...  In this paper we study low level motion control of car-like vehicles for applications of UAV swarms.  ...  Control of wheeled mobile robots with nonholonomic constraints has been considerably studied by the robotics and control communities [6] , [7] , [8] .  ... 
doi:10.1109/med.2007.4433686 fatcat:sinikbcxx5fydllgwyqtoflszm

Safety-Control of Mobile Robots Under Time-Delay Using Barrier Certificates and a Two-Layer Predictor [article]

Azad Ghaffari, Manavendra Desai
2021 arXiv   pre-print
The control structure has only eight tunable parameters facilitating control calibration and tuning in large systems of mobile robots.  ...  Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots.  ...  mobile robots with time-delay.  ... 
arXiv:2104.15047v1 fatcat:t47vnctibfg2bfze3v4qe7o3ii

Coordinated Motion Control and Event-based Obstacle-crossing for Four Wheel-leg Independent Motor-driven Robotic System via MPC [article]

Dongchen Liu, Junzheng Wang, Shoukun Wang
2021 arXiv   pre-print
The modeling of a wheel-leg robotic control system with a dynamic supporting polygon is organized.  ...  This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an  ...  , u ∈ U, (16) where χ is limited by the wheeled robotic system, U is obtained by the actuator saturation of the electric motors, and N p is the prediction horizon.  ... 
arXiv:2011.06717v2 fatcat:gqt2ouh4zrcqtmqlg7fofpqqtu

Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers

José García-Sánchez, Salvador Tavera-Mosqueda, Ramón Silva-Ortigoza, Victor Hernández-Guzmán, Jacobo Sandoval-Gutiérrez, Mariana Marcelino-Aranda, Hind Taud, Magdalena Marciano-Melchor
2018 Sensors  
By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper.  ...  With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also presented here  ...  Conflicts of Interest: The authors declare no conflicts of interest.  ... 
doi:10.3390/s18124316 fatcat:2a5bs5z5k5cqbpuvurbltxljoq

Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties

Hua Chen, Wen Chen, Chaoli Wang, Dongkai Zhang, Binwu Zhang
2013 Journal of Function Spaces and Applications  
The finite-time stabilization problem of dynamic nonholonomic wheeled mobile robots with parameter uncertainties is considered for the first time.  ...  The systematic strategy combines the theory of finite-time stability with a new switching control design method.  ...  10] , where a computationally tractable moving horizon Htracking scheme is presented.  ... 
doi:10.1155/2013/595849 fatcat:gdqplg7lazhetg7nakkrg34z7y

Tracking-error model-based predictive control for mobile robots in real time

Gregor Klančar, Igor Škrjanc
2007 Robotics and Autonomous Systems  
Experimental results on a real mobile robot are presented and a comparison of the control obtained with that of a time-varying statefeedback controller is given.  ...  In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is presented.  ...  Acknowledgment The authors would like to acknowledge the Slovenian Research Agency under CRP MIR M2-0116 project "Mobile Robot System for Reconnaissance, Research and Rescue" for funding this work.  ... 
doi:10.1016/j.robot.2007.01.002 fatcat:aqvihqbowfbnlcjjex7odfocjy

Direct Model Navigation issue shifted in the continuous domain by a predictive control approach for mobile robots

N. Morette, C. Novales, L. Josserand, P. Vieyres
2011 2011 IEEE International Conference on Robotics and Automation  
This paper presents a new navigation method for mobile robots, based on direct kinematics model and predictive control approach.  ...  It is adaptable to all types of robots taking into account their specific constraints.  ...  The constraints are related to kinematic constraints and actuator saturations (the wheels maximum rotation velocity, maximum acceleration and deceleration).  ... 
doi:10.1109/icra.2011.5979927 dblp:conf/icra/MoretteNJV11 fatcat:rykzum6pgrgztog3jk5bjgxu3u

Visual odometry and control for an omnidirectional mobile robot with a downward-facing camera

Marc Killpack, Travis Deyle, Cressel Anderson, Charles C Kemp
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Finally, we show that this system provides highfidelity odometry estimates and is able to compensate for wheel slip on a four-wheeled omnidirectional mobile robot base.  ...  However, slipping of the Mecanum wheels results in poor dead-reckoning estimates from wheel encoders, limiting the accuracy and overall utility of this type of base.  ...  The robot was given 20 seconds for each edge or waypoint since this was determined to be larger than the 95 percent rise time for both controllers even in the presence of actuator saturation.  ... 
doi:10.1109/iros.2010.5649749 dblp:conf/iros/KillpackDAK10 fatcat:praxd75iu5c47i6y2fyeuzx2hm

2020 Index IEEE Transactions on Cybernetics Vol. 50

2020 IEEE Transactions on Cybernetics  
Optimi-zation and Control of Robotic Exoskeletons for Human-Robot Co-Manipulation; TCYB Aug. 2020 3740-3751 Wu, X., Jiang, B., Yu, K., Miao, c., and Chen, H  ...  ., see Zhang, H., TCYB Oct. 2020 4268-4280 Wu, S., see Liu, C., TCYB Jan. 2020 74-86 Wu, X., see Na, J., TCYB June 2020 2639-2650 Wu, X., Li, Z., Kan, Z., and Gao, H., Reference Trajectory Reshaping  ...  ADP-Based Online Tracking Control of Partially Uncertain Time-Delayed Nonlinear System and Application to Wheeled Mobile Robots.  ... 
doi:10.1109/tcyb.2020.3047216 fatcat:5giw32c2u5h23fu4drupnh644a

The Soul of A New Machine: The Soccer Robot Team of the FU Berlin [chapter]

Raúl Rojas, Sven Behnke, Peter Ackers, Bernhard Frötschl, Wolf Linstrot, Manuel Melo, Andreas Schebesch, Mark Simon, Martin Sprengel, Oliver Tenchio
2001 Data Fusion and Perception  
Our team, the FU Fighters, consists of five robots of less than 18 cm horizontal cross-section. Four of the robots have the same mechanical design, while the goalie is slightly different.  ...  The paper describes the hierarchical control architecture used to generate the behavior of individual agents and the whole team.  ...  The Freie Universität Berlin financed most of the project. The Chancellor of our University provided travel funds for the team.  ... 
doi:10.1007/978-3-7091-2580-9_10 fatcat:jawbjicatfg2tjfsz5awnpl5vu

Ascento: A Two-Wheeled Jumping Robot

Victor Klemm, Alessandro Morra, Ciro Salzmann, Florian Tschopp, Karen Bodie, Lionel Gulich, Nicola Kung, Dominik Mannhart, Corentin Pfister, Marcus Vierneisel, Florian Weber, Robin Deuber (+1 others)
2019 2019 International Conference on Robotics and Automation (ICRA)  
This paper introduces Ascento, a compact wheeled bipedal robot that is able to move quickly on flat terrain, and to overcome obstacles by jumping.  ...  Applications of mobile ground robots demand high speed and agility while navigating in complex indoor environments. These present an ongoing challenge in mobile robotics.  ...  ACKNOWLEDGMENT The authors would like to acknowledge the generous support of ETH Zurich and the Autonomous Systems Lab (ASL), Swiss Robotics, ANYbotics, Thyssenkrupp, Anewa AG, Maxon Motors, Wyss Zurich  ... 
doi:10.1109/icra.2019.8793792 dblp:conf/icra/KlemmMSTBGKMPVW19 fatcat:ayx54i5otngfbddgls7nw4d3aq

Practical Stabilization of a Skid-steering Mobile Robot - A Kinematic-based Approach

Krzysztof Kozlowski, Dariusz Pazderski
2006 2006 IEEE International Conference on Mechatronics  
This paper presents kinematic control problem of In this paper we propose to treat SSMR a as system skid-steering mobile robot using practical smooth and timesubjected to non ideal nonintegrable constraint  ...  Taking into account the part of according to dynamic model and wheel-surface interaction. dynamics we give a condition of stable motion with respect Theoretical considerations are illustrated by simulation  ...  Control problem for SSMR is quite challenging mainly 0ofth lalsme withe reset to theiertial oe. Next, assume that the robot moves with velocity vector q. because of two facts.  ... 
doi:10.1109/icmech.2006.252581 fatcat:salbzipmrrhoho3qvmwd4fc7xa
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