A novel wheeled mobile robots control based on robust hybrid controller: Mixed H2/H∞ and predictive algorithm approach

One of the challenges facing robot tracking is the difficulty of controlling variety types of robots in known and unknown environments. This paper proposes a new strategy of path tracking for a non-holonomic mobile robot subject to kinematic disturbances using model prediction control and H2/H∞ cont...

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Published in:Journal of King Saud University. Computer and information sciences Vol. 34; no. 10; pp. 9662 - 9676
Main Authors: Sibang Liu, Kuili Liu, Zhen Zhong, Jinghan Yi, Hamdulah Aliev
Format: Journal Article
Language:English
Published: Springer 01.11.2022
Subjects:
Constrains MPC
Delay system
Hybrid controller
Obstacle avoidance
Quadratic programming
Trajectory tracking
ISSN:1319-1578
Online Access:Get full text
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Abstract One of the challenges facing robot tracking is the difficulty of controlling variety types of robots in known and unknown environments. This paper proposes a new strategy of path tracking for a non-holonomic mobile robot subject to kinematic disturbances using model prediction control and H2/H∞ control by Gain-scheduled control law. In this regard, the problem of tracking a mobile robot is expressed in a way that its kinematic error is in the form of linear parameter variable with bounded disturbance. The purpose of the design is to stabilize the controller by solving the linear matrix inequality (LMI) conditions for error tracking model. The following stability conditions are then formulated in such a way that the upper bounds are considered as LMI auxiliary variables. Also with the help of more free matrices, it can reduce conservatism. The target tracking is first designed with the assumption that there is no obstacle in the environment, and then the obstacle avoidance mode is added to the tracer controller, which is done by modifying the optimal state vector definition. In both cases, the system stability check is also performed. Simulation is performed on several predetermined paths, indicating that this strategy is feasible.
AbstractList One of the challenges facing robot tracking is the difficulty of controlling variety types of robots in known and unknown environments. This paper proposes a new strategy of path tracking for a non-holonomic mobile robot subject to kinematic disturbances using model prediction control and H2/H∞ control by Gain-scheduled control law. In this regard, the problem of tracking a mobile robot is expressed in a way that its kinematic error is in the form of linear parameter variable with bounded disturbance. The purpose of the design is to stabilize the controller by solving the linear matrix inequality (LMI) conditions for error tracking model. The following stability conditions are then formulated in such a way that the upper bounds are considered as LMI auxiliary variables. Also with the help of more free matrices, it can reduce conservatism. The target tracking is first designed with the assumption that there is no obstacle in the environment, and then the obstacle avoidance mode is added to the tracer controller, which is done by modifying the optimal state vector definition. In both cases, the system stability check is also performed. Simulation is performed on several predetermined paths, indicating that this strategy is feasible.
Author Zhen Zhong
Kuili Liu
Jinghan Yi
Sibang Liu
Hamdulah Aliev
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  fullname: Sibang Liu
  organization: College of Physics and Telecommunication Engineering, ZhouKou Normal University, Zhoukou 466001, China
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  fullname: Kuili Liu
  organization: College of Physics and Telecommunication Engineering, ZhouKou Normal University, Zhoukou 466001, China; Corresponding author
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  fullname: Zhen Zhong
  organization: Chengdu SIWI Power Electronic Technology Co., Ltd, Chengdu 610097, China
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  fullname: Jinghan Yi
  organization: Library of ZhouKou Normal University, Zhoukou 466001, China
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  fullname: Hamdulah Aliev
  organization: Faculty of Energy, Tajik Technical University, Dushanbe, Tajikistan; Department of ECE, University of Texas at Austin, TX, USA
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Snippet One of the challenges facing robot tracking is the difficulty of controlling variety types of robots in known and unknown environments. This paper proposes a...
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StartPage 9662
SubjectTerms Constrains MPC
Delay system
Hybrid controller
Obstacle avoidance
Quadratic programming
Trajectory tracking
Title A novel wheeled mobile robots control based on robust hybrid controller: Mixed H2/H∞ and predictive algorithm approach
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