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Adaptive trajectory tracking control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun Zheng Jinchuan Zheng Ke Shao Han Zhao Hao Xie Hai Wang the School of Mechanical Engineering Hefei University of TechnologyHefei 230009China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace control Technology Institute Shanghai 201109 the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the College of Science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

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trajectory tracking control for Under-Actuated Hovercraft Using Differential Flatness and Reinforcement Learning-Based Active Disturbance Rejection control

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Journal of Systems Science & Complexity 2022年第2期35卷 502-521页

作者： KONG Xiangyu XIA Yuanqing HU Rui LIN Min SUN Zhongqi DAI Li School of Automation Beijing Institute of TechnologyBeijing 100190China

This paper proposes a scheme of trajectory tracking control for the hovercraft.Since the model of the hovercraft is under-actuated,nonlinear,and strongly coupled,it is a great challenge for the controller design.To solve this problem,the control scheme is divided into two parts.Firstly,we employ differential flatness method to find a set of flat outputs and consider part of the nonlinear terms as uncertainties.Consequently,we convert the under-actuated system into a full-actuated one.Secondly,a reinforcement learning-based active disturbance rejection controller(RL-ADRC)is designed.In this method,an extended state observer(ESO)is designed to estimate the uncertainties of the system,and an actorcritic-based reinforcement learning(RL)algorithm is used to approximate the optimal control strategy.Based on the output of the ESO,the RL-ADRC compensates for the total uncertainties in real-time,and simultaneously,generates the optimal control strategy by RL algorithm.Simulation results show that,compared with the traditional ADRC method,RL-ADRC does not need to manually tune the controller parameters,and the control strategy is more robust.

关键词： Active disturbance rejection control differential flatness reinforcement learning trajectory tracking control under-actuated system

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trajectory tracking control of autonomous heavy-duty mining dump trucks with uncertain dynamic characteristics

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Science China(Information Sciences) 2023年第10期66卷 246-262页

作者： Liang CHEN Zhaobo QIN Manjiang HU Hongbo GAO Yougang BIAN Biao XU Xiaoyan PENG State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Wuxi Intelligent control Research Institute of Hunan University Department of Automation University of Science and Technology of China

The proportion of mines using autonomous mining trucks is still very low at present. To promote the development of intelligent mining, it is urgent to proceed with the drive-by-wire modification to common mining trucks and design a motion control algorithm considering uncertain dynamic characteristics.This paper proposes a trajectory tracking control method for autonomous heavy-duty mining dump trucks(AHMDTs) with uncertain dynamic characteristics. In this method, a driving/braking force compensation algorithm based on an inverse dynamic model is designed to guarantee accurate longitudinal control with less control gain tuning. Using road curvatures, a modified rear-wheel position feedback control method is proposed to deal with reverse-path tracking, which can simultaneously reduce the lateral error and yaw angle error. A modified Stanley controller considering the collaborative preview based on speed and curvature is constructed to achieve accurate path tracking in the forward gear. Moreover, the proposed method focuses on the practice of trajectory tracking control in an open-pit mine condition with the adverse effects caused by uncertain vehicle dynamics, huge variable load, and large actuator lag. Real vehicle tests show that the proposed methodology can control AHMDTs with a low tracking error.

关键词： vehicle control trajectory tracking control driving/braking force compensation rear-wheel position feedback

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trajectory tracking control of characteristic model for nonplanar hex-rotor UAV

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High Technology Letters 2022年第4期28卷 440-450页

作者：彭程 QIAO Guanyu CAI Lihua Changchun Institute of Optics Fine Mechanics and PhysicsChinese Academy of SciencesChangchun 130033P.R.China

The nonplanar hex-rotor unmanned aerial vehicle(UAV)has much higher driving property,greater payload capacity and damage tolerance than quad-rotor UAV.It is difficult to design a highperformance controller of easy engineering implementation for strongly coupled nonlinear hex-rotorUAV system.In response to this practical problem,an adaptive trajectory tracking control based oncharacteristic model for nonplanar hex-rotor is studied.Firstly,the dynamic model for the hex-rotorUAV is devised.Secondly,according to dynamic characteristics,environmental characteristics andcontrol performance requirements,the characteristic model of the hex-rotor UAV is constructed.Then,based on the characteristic model,a golden section adaptive controller is designed to realizetrajectory tracking.Furthermore,the stability analysis of the closed loop hex-rotor system is given.Finally,the validity of the proposed trajectory tracking control method adopted in the nonplanar hex-rotor UAV is demonstrated via numerical simulations and hex-rotor prototype experiments.

关键词： nonplanar hex-rotor unmanned aerial vehicle(UAV) characteristic model golden section adaptive controller stability analysis trajectory tracking control

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trajectory tracking anti-disturbance control for unmanned aerial helicopter based on disturbance characterization index

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control Theory and Technology 2023年第2期21卷 233-245页

作者： Linbo Chen Tao Li Lijun Liu Zehui Mao College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106JiangsuChina

This work studies the trajectory tracking control for unmanned aerial helicopter(UAH)system under both matched disturbance and mismatched ones.Initially,to tackle the strong coupling,an input-output feedback linearization method is utilized to simplify the nonlinear UAH system.Secondly,a set of finite-time disturbance observers(FTDOs)are proposed to estimate mismatched disturbances with their successive derivatives,which are utilized to design the feedforward controller via backstepping.Thirdly,as for matched disturbance,by defining the disturbance characterization index(DCI)to determine whether the disturbance is harmful or not for the UAH system,a feedback controller is proposed and a sufficient condition is established to ensure the convergence of the tracking error.Finally,some numerical simulations and comparisons illustrate the validity and advantages of our control scheme.

关键词： Unmanned aerial helicopter(UAH) trajectory tracking control Finite-time disturbance observer(FTDO) Backstepping control Disturbance characterization index(DCI)

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trajectory tracking control of robotic transcranial magnetic stimulation

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International Journal of Intelligent Computing and Cybernetics 2019年第2期12卷 245-259页

作者： Zecai Lin Xin Wang Jian Yang School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate SchoolShenzhenChina

Purpose–Transcranial magnetic stimulation(TMS)is a non-invasive brain stimulation technique.Based on the unique functions of TMS,it has been widely used in clinical,scientific research and other fields.Nowadays,the robot-assisted automatic TMS has become the trend.In order to simplify the operation procedures of robotic TMS and reduce the costs,the purpose of this paper is to apply the marker-based augmented-reality technology to robotic TMS system.Design/methodology/approach–By using the marker of ARToolKitPlus library and monocular camera,the patient’s head is positioned in real time.Furthermore,the force control is applied to keep contact between the coil and subject’s head.Findings–The authors fuse with visual positioning which is based on augmented-reality and force-control technologies to track the movements of the patient’s head,bring the coil closer to the stimulation site and increase treatment effects.Experimental results indicate that the trajectory tracking control of robotic TMS system designed in this paper is practical and flexible.Originality/value–This paper provides a trajectory tracking control method for the robotic TMS.The marker-based augmented-reality technology is implemented which simplifies the operation procedures of robotic TMS as well as reduce the costs.During the treatment process,the patients would wear an AR glasses,which can help patients relax through virtual scenes and reduce the uncomfortableness produce by treatment.

关键词： trajectory tracking control Force control Marker-based augmented-reality technology,Robotic TMS

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Three-Dimensional trajectory tracking control of Underactuated Autonomous Underwater Vehicles with Input Saturation

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Journal of Shanghai Jiaotong university(Science) 2020年第4期25卷 470-477页

作者：黄汉涛周竞烨邸青周家炜李家旺 Faculty of Maritime and Transportation Ningbo UniversityNingbo 315211ZhejiangChina

This paper addresses a three-dimensional(3D)trajectory tracking problem of underactuated autonomous underwater vehicles(AUVs)subjected to input saturation and external disturbances.The proposed controller can achieve practical convergence of tracking errors for general reference trajectories,including persistently exciting(PE)time varying trajectories and fixed points.At first,a modified error state formulation is introduced to tackle the situation that desired velocities do not satisfy PE condition.Then,on the basis of the backstepping technique and a Nussbaum-type even function,a saturated controller is designed so that the tracking errors can converge to a bounded neighborhood of the origin.The stability analysis based on Lyapunov theory shows that the tracking errors are globally ultimately uniformly bounded.Finally,some simulation results illustrate the effectiveness and robustness of the proposed control strategy.

关键词： underactuated autonomous underwater vehicles(AUVs) trajectory tracking control stabilization control input saturation Nussbaum-type function

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trajectory tracking of Vertical Take-off and Landing Unmanned Aerial Vehicles Based on Disturbance Rejection control

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 65-73页

作者： Lu Wang Jianbo Su the Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University

We investigate the trajectory tracking problem of vertical take-off and landing(VTOL) unmanned aerial vehicles(UAV), and propose a practical disturbance rejection control strategy. Firstly, the nonlinear error model is established completely by the modified Rodrigues parameters, while considering dynamics of the servo actuators. Then, a hierarchical control scheme is applied to design the translational and rotational controllers based on the time-scale property of each subsystem,respectively. And the linear extended state observer and auxiliary observer are used to deal with the uncertainties and saturation.At last, global stability of the closed-loop system is analyzed based on the singular perturbation theory. Simulation results show the effectiveness of the proposed control strategy.

关键词： Unmanned aerial vehicles(UAV) trajectory tracking control extended state observer singular perturbation theory

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Hierarchical control Strategy of trajectory tracking for Intelligent Vehicle

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Journal of Shanghai Jiaotong university(Science) 2017年第2期22卷 224-232页

作者：张茜刘志远 Department of control Science and Engineering Harbin Institute of TechnologyHarbin 150001China

In order to track the desired trajectory for intelligent vehicle, a new hierarchical control strategy is presented. The control structure consists of two layers. The high-level controller adopts the model predictive control(MPC) to calculate the steering angle tracking the desired yaw angle and the lateral position. The low-level controller is designed as a gain-scheduling controller based on linear matrix inequalities. The desired longitudinal velocity and the yaw rate are tracked by the adjustment of each wheel torque. The simulation results via the high-fidelity vehicle dynamics simulation software ve DYNA show that the proposed strategy has a good tracking performance and can guarantee the yaw stability of intelligent vehicle.

关键词： trajectory tracking control model predictive control(MPC) linear parameter varying(LPV) gainscheduling control

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trajectory tracking control and Vibration control for a Rigid-Flexible Wing System

Trajectory Tracking Control and Vibration Control for a Rigi...

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第40届中国控制会议

作者： Xinyue Tang Tingting Wang Qiang Fu Chunhua Zhang Wei He Institute of Artificial Intelligence University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical EngineeringUniversity of Science and Technology Beijing Automation Research Institute Co. Ltd.of China South Industries Group Corporation

This paper mainly proposes control laws to address trajectory tracking and vibration suppression problems for a twolink rigid-flexible wing system. Based on Hamilton’s principle, partial differential equations（PDEs） and ordinary differential equations（ODEs） are proposed to describe the dynamical model of the wing. The boundary controllers are designed to restrain the deformations both in bending and twisting, and to achieve the trajectory tracking. We can accurately regulate the motion of the wing to track a desired spatiotemporally varying trajectory with the implement of trajectory tracking control and vibration control. In addition, the stability of this wing system is proven by utilizing Lyapunov’s direct method. Finally, we can verify that the designed controllers are effective according to the numerical simulations.

关键词： Two-link rigid-flexible wing trajectory tracking control Vibration control Distributed parameter system

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