The Experts below are selected from a list of 11022 Experts worldwide ranked by ideXlab platform
Hongjiu Yang - One of the best experts on this subject based on the ideXlab platform.
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Trajectory tracking for a Wheeled Mobile Robot with an omnidirectional wheel on uneven ground
IET Control Theory & Applications, 2020Co-Authors: Hongjiu Yang, Shizhan Wang, Zhiqiang ZuoAbstract:In this study, trajectory tracking control is investigated based on a double closed-loop strategy for a Wheeled Mobile Robot with an omnidirectional wheel on uneven ground. The omnidirectional wheel is used to make the Wheeled Mobile Robot turn smoothly, however, external disturbances are caused when the Wheeled Mobile Robot goes straight. Moreover, the external disturbances also come from uneven ground for the Wheeled Mobile Robot. An extended state observer with a time-varying gain is designed to estimate the external disturbances in an inner loop of the double closed-loop strategy. Then a torque control law for integral sliding mode control is given to track desired velocities. In an outer loop, a kinematic controller is designed to generate the desired velocities. Experimental results are given to show the effectiveness and superiority of the double closed-loop strategy for the Wheeled Mobile Robot.
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Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint
IEEE Transactions on Control Systems and Technology, 2016Co-Authors: Hongjiu Yang, Xiaozhao Fan, Peng Shi, Changchun HuaAbstract:This brief presents a novel control scheme for some problems on tracking and obstacle avoidance of a Wheeled Mobile Robot with nonholonomic constraint. An extended state observer is introduced to estimate the unknown disturbances and velocity information of the Wheeled Mobile Robot. A nonlinear controller is designed to achieve tracking target and obstacle avoidance in complex environments. Note that tracking errors converge to a residual set outside the obstacle detection region. Moreover, the obstacle avoidance is also guaranteed inside the obstacle detection region. Simulation results are given to verify the effectiveness and robustness of the proposed design scheme.
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robust tracking control for Wheeled Mobile Robot based on extended state observer
Advanced Robotics, 2016Co-Authors: Hongjiu Yang, Xiaozhao Fan, Yuanqing Xia, Changchun HuaAbstract:This paper presents a new control scheme on trajectory tracking of Wheeled Mobile Robot with nonholonomic constraints. Extended state observer is introduced to estimate unknown disturbances and velocity information. A robust tracking controller is designed to implement the accurate trajectory tracking and disturbance compensation. By theoretical, position and velocity tracking errors of Wheeled Mobile Robot are proven uniformly ultimately asymptotically stable. Simulation results are given to illustrate the effectiveness of the developed technique.
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Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint
IEEE Transactions on Control Systems Technology, 2015Co-Authors: Hongjiu Yang, Xiaozhao Fan, Peng Shi, Changchun HuaAbstract:This brief presents a novel control scheme for some problems on tracking and obstacle avoidance of a Wheeled Mobile Robot with nonholonomic constraint. An extended state observer is introduced to estimate the unknown disturbances and velocity information of the Wheeled Mobile Robot. A nonlinear controller is designed to achieve tracking target and obstacle avoidance in complex environments. Note that tracking errors converge to a residual set outside the obstacle detection region. Moreover, the obstacle avoidance is also guaranteed inside the obstacle detection region. Simulation results are given to verify the effectiveness and robustness of the proposed design scheme.Hongjiu Yang, Xiaozhao Fan, Peng Shi, and Changchun Hu
Changchun Hua - One of the best experts on this subject based on the ideXlab platform.
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Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint
IEEE Transactions on Control Systems and Technology, 2016Co-Authors: Hongjiu Yang, Xiaozhao Fan, Peng Shi, Changchun HuaAbstract:This brief presents a novel control scheme for some problems on tracking and obstacle avoidance of a Wheeled Mobile Robot with nonholonomic constraint. An extended state observer is introduced to estimate the unknown disturbances and velocity information of the Wheeled Mobile Robot. A nonlinear controller is designed to achieve tracking target and obstacle avoidance in complex environments. Note that tracking errors converge to a residual set outside the obstacle detection region. Moreover, the obstacle avoidance is also guaranteed inside the obstacle detection region. Simulation results are given to verify the effectiveness and robustness of the proposed design scheme.
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robust tracking control for Wheeled Mobile Robot based on extended state observer
Advanced Robotics, 2016Co-Authors: Hongjiu Yang, Xiaozhao Fan, Yuanqing Xia, Changchun HuaAbstract:This paper presents a new control scheme on trajectory tracking of Wheeled Mobile Robot with nonholonomic constraints. Extended state observer is introduced to estimate unknown disturbances and velocity information. A robust tracking controller is designed to implement the accurate trajectory tracking and disturbance compensation. By theoretical, position and velocity tracking errors of Wheeled Mobile Robot are proven uniformly ultimately asymptotically stable. Simulation results are given to illustrate the effectiveness of the developed technique.
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Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint
IEEE Transactions on Control Systems Technology, 2015Co-Authors: Hongjiu Yang, Xiaozhao Fan, Peng Shi, Changchun HuaAbstract:This brief presents a novel control scheme for some problems on tracking and obstacle avoidance of a Wheeled Mobile Robot with nonholonomic constraint. An extended state observer is introduced to estimate the unknown disturbances and velocity information of the Wheeled Mobile Robot. A nonlinear controller is designed to achieve tracking target and obstacle avoidance in complex environments. Note that tracking errors converge to a residual set outside the obstacle detection region. Moreover, the obstacle avoidance is also guaranteed inside the obstacle detection region. Simulation results are given to verify the effectiveness and robustness of the proposed design scheme.Hongjiu Yang, Xiaozhao Fan, Peng Shi, and Changchun Hu
Marvin K Bugeja - One of the best experts on this subject based on the ideXlab platform.
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double exponential smoothing for predictive vision based target tracking of a Wheeled Mobile Robot
Conference on Decision and Control, 2013Co-Authors: Francois Guerin, Simon G Fabri, Marvin K BugejaAbstract:This paper describes the design of a novel nonlinear kinematic controller which allows a Wheeled Mobile Robot to track a moving target at a given separation distance. The Double Exponential Smoothing algorithm is employed to deal with uncertainties in the measurements and to acquire a predictive estimate for the Robot's relative position. This estimate is used to automatically adjust the proportional gain of the controller in order to regulate the tracking error.
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CDC - Double Exponential Smoothing for predictive vision based target tracking of a Wheeled Mobile Robot
52nd IEEE Conference on Decision and Control, 2013Co-Authors: Francois Guerin, Simon G Fabri, Marvin K BugejaAbstract:This paper describes the design of a novel nonlinear kinematic controller which allows a Wheeled Mobile Robot to track a moving target at a given separation distance. The Double Exponential Smoothing algorithm is employed to deal with uncertainties in the measurements and to acquire a predictive estimate for the Robot's relative position. This estimate is used to automatically adjust the proportional gain of the controller in order to regulate the tracking error.
Xiaozhao Fan - One of the best experts on this subject based on the ideXlab platform.
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Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint
IEEE Transactions on Control Systems and Technology, 2016Co-Authors: Hongjiu Yang, Xiaozhao Fan, Peng Shi, Changchun HuaAbstract:This brief presents a novel control scheme for some problems on tracking and obstacle avoidance of a Wheeled Mobile Robot with nonholonomic constraint. An extended state observer is introduced to estimate the unknown disturbances and velocity information of the Wheeled Mobile Robot. A nonlinear controller is designed to achieve tracking target and obstacle avoidance in complex environments. Note that tracking errors converge to a residual set outside the obstacle detection region. Moreover, the obstacle avoidance is also guaranteed inside the obstacle detection region. Simulation results are given to verify the effectiveness and robustness of the proposed design scheme.
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robust tracking control for Wheeled Mobile Robot based on extended state observer
Advanced Robotics, 2016Co-Authors: Hongjiu Yang, Xiaozhao Fan, Yuanqing Xia, Changchun HuaAbstract:This paper presents a new control scheme on trajectory tracking of Wheeled Mobile Robot with nonholonomic constraints. Extended state observer is introduced to estimate unknown disturbances and velocity information. A robust tracking controller is designed to implement the accurate trajectory tracking and disturbance compensation. By theoretical, position and velocity tracking errors of Wheeled Mobile Robot are proven uniformly ultimately asymptotically stable. Simulation results are given to illustrate the effectiveness of the developed technique.
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Nonlinear Control for Tracking and Obstacle Avoidance of a Wheeled Mobile Robot With Nonholonomic Constraint
IEEE Transactions on Control Systems Technology, 2015Co-Authors: Hongjiu Yang, Xiaozhao Fan, Peng Shi, Changchun HuaAbstract:This brief presents a novel control scheme for some problems on tracking and obstacle avoidance of a Wheeled Mobile Robot with nonholonomic constraint. An extended state observer is introduced to estimate the unknown disturbances and velocity information of the Wheeled Mobile Robot. A nonlinear controller is designed to achieve tracking target and obstacle avoidance in complex environments. Note that tracking errors converge to a residual set outside the obstacle detection region. Moreover, the obstacle avoidance is also guaranteed inside the obstacle detection region. Simulation results are given to verify the effectiveness and robustness of the proposed design scheme.Hongjiu Yang, Xiaozhao Fan, Peng Shi, and Changchun Hu
Zenon Hendzel - One of the best experts on this subject based on the ideXlab platform.
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Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind
International Journal of Applied Mechanics and Engineering, 2017Co-Authors: Zenon Hendzel, Ł. RykałaAbstract:Abstract The work presents the dynamic equations of motion of a Wheeled Mobile Robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in Wheeled Mobile Robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a Wheeled Mobile Robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a Wheeled Mobile Robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.
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Neural Network Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip
Advances in Intelligent Systems and Computing, 2015Co-Authors: Zenon Hendzel, Maciej TrojnackiAbstract:The paper presents design of a control structure that enables integration of a kinematic and a neural network controller for a four-Wheeled Mobile Robot subject to wheels slip. The controller is proposed to make the actual velocity of the Wheeled Mobile Robot reach the desired velocity, although the Wheeled Mobile Robot is even with system uncertainties and disturbances. The proposed tracking control system consists of: the kinematic and proportional controller, the neural approximated term and robust term derived from the stability analysis carried out using Lyapunov stability theorem. The proposed control system works on-line, weights adaptation is realized in every discrete step of the control process, and a preliminary learning phase of neural networks weights is not required. Computer simulation was conducted to illustrate performance of the control system.
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ICAISC (2) - Fuzzy Sensor-Based Navigation with Neural Tracking Control of the Wheeled Mobile Robot
Artificial Intelligence and Soft Computing, 2014Co-Authors: Marcin Szuster, Zenon Hendzel, Andrzej BurghardtAbstract:Navigation of the Wheeled Mobile Robot in the unknown environment with simultaneous realisation of the generated trajectory, is one of the most challenging and up to date problems in the modern Mobile Robotics. In the article a new approach is presented to a collision-free trajectory generating for a Wheeled Mobile Robot, realised in a form of the hierarchical control system with two layers. The first layer is a tracking control system, where the Neuro-Dynamic Programming algorithm in the Dual Heuristic Dynamic Programming configuration was applied. The second layer is a trajectory generator where the Fuzzy Logic systems were used. The presented control system generates and realises trajectory of the Wheeled Mobile Robot within the complex task of goal-seeking and obstacle avoiding. The proposed hierarchical control system works on-line, its performance was verified using the Wheeled Mobile Robot Pioneer 2-DX.
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Discrete neural dynamic programming in Wheeled Mobile Robot control
Communications in Nonlinear Science and Numerical Simulation, 2011Co-Authors: Zenon Hendzel, Marcin SzusterAbstract:Abstract In this paper we propose a discrete algorithm for a tracking control of a two-Wheeled Mobile Robot (WMR), using an advanced Adaptive Critic Design (ACD). We used Dual-Heuristic Programming (DHP) algorithm, that consists of two parametric structures implemented as Neural Networks (NNs): an actor and a critic, both realized in a form of Random Vector Functional Link (RVFL) NNs. In the proposed algorithm the control system consists of the DHP adaptive critic, a PD controller and a supervisory term, derived from the Lyapunov stability theorem. The supervisory term guaranties a stable realization of a tracking movement in a learning phase of the adaptive critic structure and robustness in face of disturbances. The discrete tracking control algorithm works online, uses the WMR model for a state prediction and does not require a preliminary learning. Verification has been conducted to illustrate the performance of the proposed control algorithm, by a series of experiments on the WMR Pioneer 2-DX.
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an adaptive critic neural network for motion control of a Wheeled Mobile Robot
Nonlinear Dynamics, 2007Co-Authors: Zenon HendzelAbstract:In this paper, we propose a new application of the adaptive critic methodology for the feedback control of Wheeled Mobile Robots, based on a critic signal provided by a neural network (NN). The adaptive critic architecture uses a high-level supervisory NN adaptive critic element (ACE), to generate the reinforcement signal to optimise the associative search element (ASE), which is applied to approximate the non-linear functions of the Mobile Robot. The proposed tracking controller is derived from Lyapunov stability theory and can guarantee tracking performance and stability. A series of computer simulations have been used to emulate the performance of the proposed solution for a Wheeled Mobile Robot.
