Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system

Michałek, Maciej; Dutkiewicz, Piotr; Kiełczewski, Marcin; Pazderski, Dariusz

doi:10.2478/v10006-009-0043-1

Abstract

The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The paper includes a control law design description, stability and convergence analysis of a closed-loop system, and practical verification of the proposed control concept. The experimental results illustrate control quality obtained on a laboratory setup equipped with vision feedback, where the Kalman filter algorithm was used in order to practically estimate skid-slip components.

References

Bar-Shalom, Y., Li, X. R. and Kirubarajan, T. (2001). Estimation with Applications to Tracking and Navigation, Wiley-Interscience, New York, NY.10.1002/0471221279
Search in Google Scholar
Corradini, M. L., Leo, T. and Orlando, G. (1999). Robust stabilization of a mobile robot violating the nonholonomic constraint via quasi-sliding modes, Proceedings of the American Control Conference, San Diego, CA, USA, pp. 3935-3939.
Search in Google Scholar
Dixon, W. E., Dawson, D. M. and Zergeroglu, E. (2000). Tracking and regulation control of a mobile robot system with kinematic disturbances: A variable structure-like approach, Journal of Dynamic Systems, Measurement and Control 122(4): 616-623.10.1115/1.1316795
Search in Google Scholar
Fukao, T., Miyasaka, S., Mori, K., Adachi, N. and Osuka, K. (2001). Active steering systems based on model reference adaptive nonlinear control, Proceedings of the IEEE Intelligent Transportation Systems Conference, Oakland, CA, USA, pp. 502-507.
Search in Google Scholar
Khalil, H. K. (2002). Nonlinear Systems. 3rd Edn., Prentice-Hall, Upper Saddle River, NJ.
Search in Google Scholar
Kiencke, U. and Nielsen, L. (2000). Automotive Control Systems, Springer-Verlag, Berlin.
Search in Google Scholar
Lenain, R., Thuilot, B., Cariou, C. and Martinet, P. (2006). High accuracy path tracking for vehicles in presence od sliding: Application to farm vehicle automatic guidance for agricultural tasks, Autonomous Robots 21(1): 79-97.10.1007/s10514-006-7806-4
Search in Google Scholar
Leroquais, W. and dAndrea Novel, B. (1996). Modeling and control of wheeled mobile robots not satisfying ideal velocity constraints: the unicycle case, Proceedings of the 35th Conference on Decision and Control, Kobe, Japan, pp. 1437-1442.
Search in Google Scholar
Lewis, A. D. (1999). When is a mechanical control system kinematic? Proceedings of the 38th Conference on Decision and Control, Phoenix, AZ, USA, pp. 1162-1167.
Search in Google Scholar
Lhomme-Desages, D., Grand, C. and Guinot, J.-C. (2007). Trajectory control of a four-wheel skid-steering vehicle over soft terrain using physical interaction model, Proceedings of the IEEE International Conference on Robotics and Automation, Rome, Italy, pp. 1164-1169.
Search in Google Scholar
Mi, C., Lin, H. and Zhang, Y. (2005). Iterative learning control of antilock braking of electric and hybrid vehicles, IEEE Transactions on Vehicular Technology 54(2): 486-494.10.1109/TVT.2004.841552
Search in Google Scholar
Michałek, M. (2007). VFO control for mobile vehicles in the presence of skid phenomenon, Robot Motion and Control 2007, Lecture Notes in Control and Information Sciences, Vol. 360, Springer, pp. 57-66.
Search in Google Scholar
Michałek, M. and Kozłowski, K. (2009). Vector-field-orientation feedback control method for a differentially-driven vehicle, IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2008.2010406, (in print).10.1109/TCST.2008.2010406
Search in Google Scholar
Motte, I. and Campion, G. (2000). A slow manifold approach for the control of mobile robots not satisfying the kinematic constraints, IEEE Transactions on Robotics and Automation 16(6): 875-880.10.1109/70.897800
Search in Google Scholar
Pacejka, H. B. (2002). Tyre and Vehicle Dynamics, Butterworth-Heinemann.
Search in Google Scholar
Pazderski, D. and Kozłowski, K. (2008). Trajectory tracking control of skid-steering robot—Experimental validation, Proceedings of the 17th World Congress, International Federation of Automatic Control, Seoul, Korea, pp. 5377-5382.
Search in Google Scholar
Peng, S.-T., Sheu, J.-J. and Chang, C.-C. (2004). On one approach to constraining wheel slip for the autonomus control of a 4ws/4wd, Proceedings of the International Conference on Control Applications, Taipei, Taiwan, pp. 1254-1259.
Search in Google Scholar
Wang, D. and Low, C. B. (2008). Modeling and analysis of skidding and slipping in wheeled mobile robots: Control design perspective, IEEE Transactions on Robotics 24(3): 676-687.10.1109/TRO.2008.921563
Search in Google Scholar
Wong, J. Y. (2001). Theory of Ground Vehicles, John Wiley & Sons, Inc., Ottawa.
Search in Google Scholar
Zong, Z., Zweiri, Y. H. and Seneviratne, L. D. (2006). Nonlinear observer for slip estimation of skid-steering vehicles, Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pp. 1499-1504.
Search in Google Scholar

Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system

Abstract

Paradigm

My account