Skip to main content Accessibility help

We use cookies to distinguish you from other users and to provide you with a better experience on our websites. Close this message to accept cookies or find out how to manage your cookie settings.

Close cookie message
×
Home
Hostname: page-component-5c569c448b-ph4cd Total loading time: 0.235 Render date: 2022-07-05T18:43:20.361Z Has data issue: true Feature Flags: { "shouldUseShareProductTool": true, "shouldUseHypothesis": true, "isUnsiloEnabled": true, "useRatesEcommerce": false, "useNewApi": true } hasContentIssue true
  • English
Robotica Robotica

Article contents

A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations

Published online by Cambridge University Press:  18 January 2019

Luis Montoya-Villegas Open the ORCID record for Luis Montoya-Villegas[Opens in a new window] ,
Javier Moreno-Valenzuela Open the ORCID record for Javier Moreno-Valenzuela[Opens in a new window]  and
Ricardo Pérez-Alcocer
Luis Montoya-Villegas*
Affiliation:
Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, México E-mail: moreno@citedi.mx
Javier Moreno-Valenzuela
Affiliation:
Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, México E-mail: moreno@citedi.mx
Ricardo Pérez-Alcocer
Affiliation:
CONACYT-Instituto Politécnico Nacional-CITEDI, Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, México E-mail: rrperez@citedi.mx
*
*Corresponding author. E-mail: lmontoya@citedi.mx
Get access Rights & Permissions[Opens in a new window]

Summary

In this paper, the feedback linearization approach is used to introduce a motion controller for unicycle-type wheeled mobile robots (UWMRs). The output function is defined as a linear combination of the error state. The novel scheme is firstly tested in numerical simulation and compared with its corresponding experimental result. Three controllers are taken from the literature and compared to the proposed approach by means of experiments. The gains of the experimentally tested controllers are selected to obtain identical energy consumption. The Optitrack commercial vision system and Pioneer P3-DX UWMR are used in real-time experimental tests. In addition, two sets of experimental results for different motion tasks are provided. The results show that the proposed controller presents the best tracking accuracy.

Keywords

Trajectory trackingMobile robotsFeedback linearizationVision systemReal-time experiments
Type
Articles
Information
Robotica , Volume 37 , Issue 6 , June 2019 , pp. 1073 - 1089
Copyright
Copyright © Cambridge University Press 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Moreno–Valenzuela, J. and Aguilar–Avelar, C., Motion Control of Underactuated Mechanical Systems, 1st ed. (Springer International Publishing AG, Cham, 2018).CrossRefGoogle Scholar
Chevallereau, C., Formal’sky, A. and Djoudi, D., “Tracking a joint path for the walk of an underactuated biped,” Robotica. 22(1), 15–28 (2004).CrossRefGoogle Scholar
Zhang, A., Yang, C., Gong, S. and Qiu, J., “Nonlinear stabilizing control of underactuated inertia wheel pendulum based on coordinate transformation and time-reverse strategy,” Nonlinear Dyn. 84(4), 2467–2476 (2016).CrossRefGoogle Scholar
Raffo, G. V., Ortega, M. G., Madero, V. and Rubio, F. R., “Two-wheeled self-balanced pendulum workspace improvement via underactuated robust nonlinear control,” Control Eng. Pract. 44, 231–242 (2015).CrossRefGoogle Scholar
Han, C., Guo, J. and Pechev, A., “Nonlinear H∞ based underactuated attitude control for small satellites with two reaction wheels,” Acta Astronaut. 104(1), 159–172 (2014).CrossRefGoogle Scholar
Basari, M. A. M., Husain, A. R. and Danapalasingam, K. A., “Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance,” Sadhana. 40(5), 1531–1553 (2015).CrossRefGoogle Scholar
Yan, Z., Yu, H., Zhang, W., Li, B. and Zhou, J., “Globally finite-time stable tracking control of underactuated UUVs,” Ocean Eng. 107, 132–146 (2015).CrossRefGoogle Scholar
Elmokadem, T., Zribi, M. and Youcef-Toumi, K., “Trajectory tracking sliding mode control of underactuated AUVs,” Nonlinear Dyn. 84(2), 1079–1091 (2016).CrossRefGoogle Scholar
Diaz, D. and Kelly, R., “On Modeling and Position Tracking Control of the Generalized Differential Driven Wheeled Mobile Robot,” Proceedings of the IEEE International Conference on Automatica (ICA–ACCA), Curico (2016) pp. 1–6.Google Scholar
Zhang, X., Fang, Y. and Sun, N., “Visual servoing of mobile robots for posture stabilization: From theory to experiments,” Int. J. Robust Nonlin. 25(1), 1–15 (2014).Google Scholar
Wang, Y., Miao, Z., Zhong, H. and Pan, Q., “Simultaneous stabilization and tracking of nonholonomic mobile robots: A Lyapunov-based approach,” IEEE Trans. Control Syst. Technol. 23(4), 1440–1450 (2015).CrossRefGoogle Scholar
Chen, X. and Jia, Y., “Simple tracking controller for unicycle-type mobile robots with velocity and torque constraints,” Trans. Inst. Meas. Control. 37(2), 211–218 (2014).CrossRefGoogle Scholar
Millan, S. and Valenciaga, F., “A Comparative Study of Two Trajectory Tracking Controllers for an Autonomous Robot Vehicle,” Proceedings of XVI Workshop on Information Processing and Control (RPIC), Córdoba (2015) pp. 1–6.Google Scholar
Li, X., Wang, Z., Chen, X., Zhu, J. and Chen, Q., “Adaptive Control of Unicycle-type Mobile Robots with Longitudinal Slippage,” Proceedings of American Control Conference (ACC), Boston (2016) pp. 1637–1642.Google Scholar
Blažič, S., “Two Approaches for Nonlinear Control of Wheeled Mobile Robots,” Proceedings of the IEEE 13th International Conference on Control & Automation (ICCA), Ohrid (2017) pp. 946–951.Google Scholar
Korayem, M. H., Esfeden, R. A. and Nekoo, S. R., “Path planning algorithm in wheeled mobile manipulators based on motion of arms,” J. Mech. Sci. Technol. 29(4), 1753–1763 (2015).CrossRefGoogle Scholar
Korayem, M. H., Yousefzadeh, M. and Manteghi, S., “Dynamics and input-output feedback linearization control of a wheeled mobile cable-driven parallel robot,” Multibody Syst. Dyn. 40(1), 55–73 (2017).CrossRefGoogle Scholar
Liu, R., Sun, X. and Wang, D., “Heavyweight airdrop flight control design using feedback linearization and adaptive sliding mode,” Trans. Inst. Meas. Control. 38(10), 1155–1164 (2016).CrossRefGoogle Scholar
Mahmood, A. and Kim, Y., “Decentrailized formation flight control of quadcopters using robust feedback linearization,” J. Franklin Inst. 354(2), 852–871 (2017).CrossRefGoogle Scholar
Dixon, W., Dawson, D., Zergeroglu, E. and Behal, A., Nonlinear Control of Wheeled Mobile Robots, 1st ed. (Springer-Verlag, London, 2001).Google Scholar
Canudas de Wit, C., Khennouf, H., Samson, C. and Sordalen, O. J., “Nonlinear Control Design for Mobile Robots,” In: Recent Trends in Mobile Robots (Zheng, Y. F., Ed.) (World Scientific Publishing, Singapore, 1993) pp. 121–156.Google Scholar
Panteley, E., Lefeber, E., Loria, A. and Nijmeijer, H., “Exponential tracking control of a mobile car using a cascaded approach,” IFAC Proc. Vol . 31(27), 201–206 (1998).CrossRefGoogle Scholar
Fantoni, I. and Lozano, R., Non–Linear Control for Underactuated Mechanical Systems, 1st ed. (Springer-Verlag, London, 2002).CrossRefGoogle Scholar
Anvari, I., Non-holonomic Differential Drive Mobile Robot Control & Design: Critical Dynamics and Coupling Constraints M.Sc. Thesis (Arizona State University, Tempe, USA, 2013).Google Scholar
Egerstedt, M., Motion Planning and Control of Mobile Robots Ph.D. Thesis (Royal Institute of Technology, Stockholm, Sweden, 2000).Google Scholar
Nascimento, T., DÃşrea, C. and Gonçalves, L., “Nonholonomic mobile robots’ trajectory tracking model predictive control: A survey,” Robotica. 36(5), 1–21 (2018).CrossRefGoogle Scholar
Khalil, H. K., Nonlinear Systems, 3rd ed. (Prentice–Hall, Upper Saddle River, 2002).Google Scholar
Slotine, J. J. E. and Li, W., Applied Nonlinear Control, 1st ed. (Prentice–Hall, Englewood-Cliffs, NJ, 1991).Google Scholar
Sastry, S. and Bodson, M., Adaptive Control: Stability, Convergence, and Robustness, 1st ed. (Prentice–Hall, Englewood-Cliffs, NJ, 1989).Google Scholar
Panteley, E. and Loria, A., “On global uniform asymptotic stability of nonlinear time-varying systems in cascade,” Syst. Control Lett. 33(2), 131–138 (1998).CrossRefGoogle Scholar
Moreno-Valenzuela, J., “Adaptive anti control of chaos for robot manipulators with experimental evaluations,” Commun. Nonlinear Sci. Numer. Simul. 18(1), 1–11 (2013).CrossRefGoogle Scholar
Moreno-Valenzuela, J., “Velocity field control of robot manipulators by using only position measurements,” J. Franklin Inst. 344(8), 1021–1038 (2007).CrossRefGoogle Scholar
8
Cited by

Save article to Kindle

To save this article to your Kindle, first ensure coreplatform@cambridge.org is added to your Approved Personal Document E-mail List under your Personal Document Settings on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part of your Kindle email address below. Find out more about saving to your Kindle.

Note you can select to save to either the @free.kindle.com or @kindle.com variations. ‘@free.kindle.com’ emails are free but can only be saved to your device when it is connected to wi-fi. ‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.

Find out more about the Kindle Personal Document Service.

A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations
Available formats
×

Save article to Dropbox

To save this article to your Dropbox account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you used this feature, you will be asked to authorise Cambridge Core to connect with your Dropbox account. Find out more about saving content to Dropbox.

A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations
Available formats
×

Save article to Google Drive

To save this article to your Google Drive account, please select one or more formats and confirm that you agree to abide by our usage policies. If this is the first time you used this feature, you will be asked to authorise Cambridge Core to connect with your Google Drive account. Find out more about saving content to Google Drive.

A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations
Available formats
×
×

Reply to: Submit a response

Please enter your response.

Your details

Please enter a valid email address.

Conflicting interests

Do you have any conflicting interests? *