Robots have been used in many applications in the past few decades. Moreover, due to high nonlinearity behavior of these systems, an optimal and robust control design approaches have been considered to stabilize and improve their performance and robustness. The uncertainties of the time delay on the output states of the mobile robot system have a significant influence on the system nominal performance. As a result, the work becomes here to address the influence of these uncertainties on the robot system performance. In order to achieve this objective, the nonlinear controller via sliding mode control (SMC) is designed by selecting a suitable sliding surface dynamics in which the considered robot displacement and tilt angle are sliding on. The lyapunov function is considered here to accomplish the design of the sliding control signals for robot stabilization. Furthermore, the stability of the considered system is guaranteed due to convergence of the lyapunov functions into zero when the state trajectories tend to desired set points. In addition, we consider the trajectory tracking and stabilization of TWBMR system using parallel double loop PID controllers whose controllers gains are tuning via linear quadratic regulator (LQR) approach. Finally, to demonstrate the effectiveness of SMC and PID-LQR design methods, the comparison is carried out when the nominal and uncertain conditions.


    Access

    Download


    Export, share and cite



    Title :

    Robust control and optimized parallel control double loop design for mobile robot


    Contributors:

    Publication date :

    2020-09-01


    Remarks:

    oai:zenodo.org:3897736
    International Journal of Robotics and Automation (IJRA) 9(3) 160-170



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Parallel-parking control of autonomous mobile robot

    Cheng, Ching-Wen / Chang, Shih-Jie / Tzuu-Hseng S. Li | Tema Archive | 1997


    An Optimized Design of a Parallel Robot for Gait Training

    Maddalena, M / Saadat, M / Rastegarpanah, A et al. | BASE | 2017

    Free access

    MOBILE ROBOT, SERVER, MOBILE ROBOT CONTROL SYSTEM, AND MOBILE ROBOT CONTROL METHOD

    YAMAGUCHI TAKAHIRO / KOUNO YOSHINOBU / UJIIE YOSHIHIRO et al. | European Patent Office | 2024

    Free access

    Robust H-Infinity Control of Delta Parallel Robot with Disturbances

    Serrano, Fernando E. / Cardona, Manuel | Springer Verlag | 2024


    Elevator parallel hot standby double-loop speed control system and control method

    LIU HEWEI / ZHAO ZELIANG / SUN FUQIANG et al. | European Patent Office | 2023

    Free access