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A Novel Fuzzy Trajectory Tracking Control Design for Wheeled Mobile Robot
2020
Advances in Robotics & Mechanical Engineering
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A novel fuzzy based control design for the trajectory tracking of wheeled mobile robot (WMR) is presented in this paper. ...
The design objective is to specify one fuzzy control law that can force the WMR to track a predefined trajectory for the nonlinear trajectory tracking control of WMR. ...
Based on this reason, we try to propose a novel fuzzy control law to treat the trajectory tracking problem of WMR. ...
doi:10.32474/arme.2020.02.000138
fatcat:2x32g544prfddammzjn6idroke
Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots
1999
IEEE Transactions on Robotics and Automation
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A novel sliding mode control law is proposed for asymptotically stabilizing the mobile robot to a desired trajectory. It is shown that the proposed scheme is robust to bounded external disturbances. ...
In this paper, we propose a robust tracking control of nonholonomic wheeled mobile robots using sliding mode. ...
CONCLUSION A novel control algorithm to achieve trajectory tracking of a mobile robot with nonholonomic constraints was proposed. ...
doi:10.1109/70.768190
fatcat:mdm6qdn5sbcgxdxy4r4gkoqgru
Safety-critical model predictive control with control barrier function for dynamic obstacle avoidance
[article]
2022
arXiv
pre-print
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A barrier function is used to obtain a safety envelope for the robot. ...
An obstacle avoidance constraint under the Euclidean norm is also incorporated into NMPC to emphasize the effectiveness of CBF in both point stabilization and trajectory tracking problem of the robot. ...
To address these concerns, model predictive control (MPC) is considered, due to its ability to explicitly handle both soft and hard constraints and its simultaneous tracking and regulation capability. ...
arXiv:2211.11348v1
fatcat:ijhf7rxv4vb2zdbcr3uy2tcopu
Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators
[article]
2024
arXiv
pre-print
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In this paper, we propose a novel control architecture that allows a torque-controlled robot to guarantee safety constraints such as kinematic limits, self-collisions, external collisions and singularities ...
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. ...
CONCLUSIONS AND FUTURE WORKS We proposed a novel framework for constrained passive interaction control of robot manipulators. ...
arXiv:2403.09853v1
fatcat:xmvslefbcjbx7itvrhgy3mbm3u
Online Trajectory Generation for Mobile Robots with Kinodynamic Constraints and Embedded Control Systems
2012
IFAC Proceedings Volumes
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Moreover, the trajectory generated by the nonlinear filter can be fed into a control loop based on the dynamic model of the robot, so that accurate tracking can be achieved. ...
The paper describes trajectory generation and tracking control algorithms, respectively based on nonlinear filtering and dynamic feedback linearization, for mobile robots. ...
INTRODUCTION Generation and accurate tracking of smooth motion trajectories, subject to kinematic and dynamic constraints, are fundamental issues in robotics. ...
doi:10.3182/20120905-3-hr-2030.00062
fatcat:o4tgoayrhzgyjpduc3pugirqpu
Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs
2015
IEEE Access
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This paper presents a novel method to address the actuator saturation for nonlinear hybrid systems by directly incorporating user-defined input bounds in a controller design. ...
This paper concludes with an experimental validation of the main results on the bipedal robot MABEL, demonstrating the usefulness of the QP-based CLF approach for real-time robotic control. ...
joint accelerations subject to input constraints. ...
doi:10.1109/access.2015.2419630
fatcat:fpop663skferndi7et7lvk5jx4
Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control
2020
IEEE Robotics and Automation Letters
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2019 pre-print arXiv:1912.10360v1 fatcat:dnxw2kx7xbdvhf2shpdjcfqeieOther Versions
The result is a new approach for complex tasks with nonlinear, uncertain, and constrained dynamics as are common in robotics. ...
Our experiments on a state-of-the-art robot manipulator are the first to show that both the proposed robust and approximate MPC schemes scale to real-world robotic systems. ...
The authors thank A. Marco and F. Solowjow for helpful discussions, and their colleagues at MPI-IS who contributed to the Apollo robot platform. ...
doi:10.1109/lra.2020.2975727
fatcat:fhiz4ls7gjghtie63gdgf7qsne
Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis
2015
Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems - ICCPS '15
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With a view towards better understanding CPSs of this form, this paper presents a methodology for successfully translating nonlinear real-time optimization based controllers from bipedal robots to a novel ...
Leveraging methods that have proven successful in generating stable robotic locomotion, control Lyapunov function (CLF) based Quadratic Programs (QPs) are utilized to optimally track the resulting desired ...
This research has approval from the Institutional Review Board with IRB2014-0382F for testing with human subjects. ...
doi:10.1145/2735960.2735964
dblp:conf/iccps/ZhaoRHPA15
fatcat:73siekn5kfctxjnurd2nsox6my
Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator
2015
The international journal of robotics research
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By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines. ...
First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. ...
This work was done in the Distributed Robotics Laboratory at MIT with support from the National Science Foundation, grant numbers NSF 1117178, NSF EAGER 1133224, NSF IIS1226883, and NSF CCF1138967 as well ...
doi:10.1177/0278364915587926
fatcat:2bx6snmmgfebjkolzahwz6wffa
Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines. ...
First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. ...
Chirikjian [7] uses a continuum approach to model the dynamics of a hard hyper-redundant manipulator and uses this for computed torque control. ...
doi:10.1109/icra.2015.7139538
dblp:conf/icra/MarcheseTR15
fatcat:jjjqowdfnjhfphpjp7mi6xd6g4
A Novel Nonlinear Control Law with Trajectory Tracking Capability for Nonholonomic Mobile Robots: Closed-Form Solution Design
2013
Applied Mathematics & Information Sciences
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A novel nonlinear robust trajectory tracking control law for nonholonomic mobile robot is presented in this paper. ...
This approach can be applied to generate trajectory tracking control commands on nonholonomic mobile robot movement. ...
Acknowledgements This research was sponsored by National Science Council (NSC), Taiwan, Republic of China under Grant NSC 100-2218-E-006-032. ...
doi:10.12785/amis/070244
fatcat:zgbzwge5ufd3ddm4s76wwyxrwy
BarrierNet: A Safety-Guaranteed Layer for Neural Networks
[article]
2021
arXiv
pre-print
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BarrierNet allows the safety constraints of a neural controller be adaptable to changing environments. ...
We evaluate them on a series of control problems such as traffic merging and robot navigations in 2D and 3D space, and demonstrate their effectiveness compared to state-of-the-art approaches. ...
We are grateful to the members of the Capgemini research team for discussing the importance of safety and stability of machine learning. ...
arXiv:2111.11277v1
fatcat:ggqbi2xn4bbfjon37nqj424ul4
Active Perception based Formation Control for Multiple Aerial Vehicles
2019
IEEE Robotics and Automation Letters
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In previous work, we presented an approach for cooperative detection and tracking (CDT) of a subject using multiple micro-aerial vehicles (MAVs). ...
We present a novel robotic front-end for autonomous aerial motion-capture (mocap) in outdoor environments. ...
ACKNOWLEDGMENT The authors would like to thank I. Martinovic and M. Landry for their help with the field experiments and the anonymous reviewers and the editor for their highly constructive feedback. ...
doi:10.1109/lra.2019.2932570
fatcat:gdisc3lu2fd7xhfln5y6pl4nhu
Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning
[article]
2021
arXiv
pre-print
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2021 pre-print arXiv:2108.06266v1 fatcat:szah35r4tbf6vdnatxfeewwt6a
We highlight some of the open challenges that will drive the field of robot learning in the coming years, and emphasize the need for realistic physics-based benchmarks to facilitate fair comparisons between ...
The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. ...
ACKNOWLEDGMENTS The authors would like to acknowledge the early contributions to this work by Karime Pereida and Sepehr Samavi, the invaluable suggestions and feedback by Hallie Siegel, as well as the ...
arXiv:2108.06266v2
fatcat:gbbe3qyatfgelgzhqzglecr5qm
Learning-Based Safety-Stability-Driven Control for Safety-Critical Systems under Model Uncertainties
[article]
2020
arXiv
pre-print
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In this paper, a learning-based safety-stability-driven control (LBSC) algorithm is presented to guarantee the safety and tracking stability for nonlinear safety-critical systems subject to control input ...
Safety and tracking stability are crucial for safety-critical systems such as self-driving cars, autonomous mobile robots, industrial manipulators. ...
CONCLUSION In this paper, a learning-based control algorithm (LBSC) was proposed for nonlinear safety-critical systems subject to control input constraints under model uncertainties. ...
arXiv:2008.03421v10
fatcat:j6lkxsy5nnacvduynfbfhuhxd4
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