Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat
Abstract This paper proposes a wheeled mobile robot (WMR) robust control scheme. The feasible strategy is developed to achieve an efficient and robust autonomous mobile robot motion. To realize kinematic autonomous planning and control of the WMR, a novel controller is designed based on control Lyap...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-11-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12490 |
| _version_ | 1797643402654777344 |
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| author | Yueyue Liu Keqiang Bai Haoyu Wang Qigao Fan |
| author_facet | Yueyue Liu Keqiang Bai Haoyu Wang Qigao Fan |
| author_sort | Yueyue Liu |
| collection | DOAJ |
| description | Abstract This paper proposes a wheeled mobile robot (WMR) robust control scheme. The feasible strategy is developed to achieve an efficient and robust autonomous mobile robot motion. To realize kinematic autonomous planning and control of the WMR, a novel controller is designed based on control Lyapunov function. This part can be divided into the following two aspects: 1) considering the nonholonomic constraints in the autonomous mobile robot trajectory tracking, a dynamic feedback‐linearization is adopted by utilizing differential flatness‐based integrated control framework to achieve full‐state controllability; 2) to compensate the structured uncertainties and slippage disturbances related to the robot kinematic model, a robust controller is designed based on control Lyapunov function with quadratic programming. Such a strategy can achieve autonomous motion even with unknown slippage disturbances subject to various constraints. Moreover, the sufficient condition is also analyzed to ensure the WMR system exponential stability. The effectiveness and performance of the proposed method are verified by numerical simulation. |
| first_indexed | 2024-03-11T14:14:17Z |
| format | Article |
| id | doaj.art-782109f499e24e729584ed960ccc9632 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-03-11T14:14:17Z |
| publishDate | 2023-11-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-782109f499e24e729584ed960ccc96322023-11-01T10:38:57ZengWileyIET Control Theory & Applications1751-86441751-86522023-11-0117162136214510.1049/cth2.12490Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential FlatYueyue Liu0Keqiang Bai1Haoyu Wang2Qigao Fan3School of Internet of Things Engineering Institute of Automation, Jiangnan University Wuxi ChinaEngineering Research Center of Integration and Application of Digital Learning Technology Ministry of Education, and also with the School of Information Engineering Southwest University of Science and Technology Mianyang ChinaSchool of Internet of Things Engineering Institute of Automation, Jiangnan University Wuxi ChinaSchool of Internet of Things Engineering Institute of Automation, Jiangnan University Wuxi ChinaAbstract This paper proposes a wheeled mobile robot (WMR) robust control scheme. The feasible strategy is developed to achieve an efficient and robust autonomous mobile robot motion. To realize kinematic autonomous planning and control of the WMR, a novel controller is designed based on control Lyapunov function. This part can be divided into the following two aspects: 1) considering the nonholonomic constraints in the autonomous mobile robot trajectory tracking, a dynamic feedback‐linearization is adopted by utilizing differential flatness‐based integrated control framework to achieve full‐state controllability; 2) to compensate the structured uncertainties and slippage disturbances related to the robot kinematic model, a robust controller is designed based on control Lyapunov function with quadratic programming. Such a strategy can achieve autonomous motion even with unknown slippage disturbances subject to various constraints. Moreover, the sufficient condition is also analyzed to ensure the WMR system exponential stability. The effectiveness and performance of the proposed method are verified by numerical simulation.https://doi.org/10.1049/cth2.12490differential flatness‐basedquadratic programmingrobust control Lyapunov functionslippage disturbancewheeled mobile robot |
| spellingShingle | Yueyue Liu Keqiang Bai Haoyu Wang Qigao Fan Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat IET Control Theory & Applications differential flatness‐based quadratic programming robust control Lyapunov function slippage disturbance wheeled mobile robot |
| title | Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat |
| title_full | Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat |
| title_fullStr | Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat |
| title_full_unstemmed | Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat |
| title_short | Autonomous Planning and Robust Control for Wheeled Mobile Robot With Slippage Disturbances Based on Differential Flat |
| title_sort | autonomous planning and robust control for wheeled mobile robot with slippage disturbances based on differential flat |
| topic | differential flatness‐based quadratic programming robust control Lyapunov function slippage disturbance wheeled mobile robot |
| url | https://doi.org/10.1049/cth2.12490 |
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