Lyapunov-Based PI-Like Control for Robust Trajectory Tracking of a Four-Wheel Independently Driven and Steered Robot: Design and Experimental Validation
In this paper, a Lyapunov-based synthesis of a PI-like controller is proposed for robust trajectory tracking of an independently driven and steered four-wheel mobile robot. For the robot considered in this work, an explicit structurally verified mathematical model is used to enable systematic controller design with rigorous stability guarantees suitable for real time implementation. An augmented Lyapunov-based practical stability analysis is developed for the combined velocity-error and integral-error dynamics of the inner loop, yielding explicit bounds and sufficient conditions for practical stability and uniform ultimate boundedness of the combined velocity-error and integral-error state. The resulting control law retains a PI-like structure with model-based feedforward compensation, making it suitable for implementation on standard embedded platforms while improving robustness against configuration dependent residual dynamics and unmodelled effects. The effectiveness and robustness of the proposed design are demonstrated experimentally on a four-wheel independently steered and independently driven mobile robot platform, under both horizontal and vertical operating conditions and benchmarked against a PI controller and a sliding-mode controller.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Evaluation of Three Nonlinear Control Methods to Reject the Constant Bounded Disturbance for Robotic Manipulators
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and…
Trajectory tracking model-following control using Lyapunov redesign with output time-derivatives to compensate unmatched uncertainties
We study trajectory tracking for flat nonlinear systems with unmatched uncertainties using the model-following control (MFC) architecture. We apply state feedback linearisation control for the process and propose a simpl…
Almost Global Trajectory Tracking for Quadrotors Using Thrust Direction Control on $\mathcal{S}^2$
Many of the existing works on quadrotor control address the trajectory tracking problem by employing a cascade design in which the translational and rotational dynamics are stabilized by two separate controllers. The sta…
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial Vehicle
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial VehicleThis paper presents both the trajectory generation and tracking control strategies for an underactuated flapping wing aeria…
Fixed-time Disturbance Observer-Based MPC Robust Trajectory Tracking Control of Quadrotor
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturban…
Model Predictive Control