FFTSMC with Optimal Reference Trajectory Generated by MPC in Robust Robotino Motion Planning with Saturating Inputs

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Authors

Mobile robots are remarkable cases of highly developed technology and systems. The robot community has developed a complex analysis to meet the increased demands of the control challenges pertaining to the movement of robot. An approach using Explicit Model Predictive Control (MPC) in combination with Sliding Mode Control (SMC) in the context of a decoupling controller is proposed. The MPC works in the outer loop of the control and is used to generate the unique optimal reference trajectory. The generated reference resulting from the convex optimisation problem is to be tracked by the SMC. The SMC works in the inner loop of the proposed control strategy to compensate the nonlinearities. MPC is used over the more common PID strategy as it is able to handle saturation with better tracking and error. Implementation of three possible different SMC strategies such as classical SMC, Finite Time Sliding Mode Control (FTSMC), and Fast Finite Time Sliding Mode Control (FFTSMC) using Matlab/Simulink shows promising results even in the presence of external disturbances. In particular, in the case of FFTSMC, the paper exhibits a Proposition and a Theorem. In particular, the Theorem gives sufficient condition to avoid saturating inputs, while in the meantime preserving asymptotic stability. We were able to validate the approach using simulations to compare outcomes and tune to optimal results.

Original languageEnglish
Title of host publication2021 American Control Conference (ACC)
Number of pages8
Place of PublicationPiscataway
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date25.05.2021
Pages1470-1477
Article number9482876
ISBN (print)978-1-7281-9704-3
ISBN (electronic)978-1-6654-4197-1, 978-1-6654-4198-8
DOIs
Publication statusPublished - 25.05.2021
EventAmerican Control Conference - ACC 2021 - Virtual, New Orleans, United States
Duration: 25.05.202128.05.2021
https://acc2021.a2c2.org/

    Research areas

  • Holonomic mobile robots, Lyapunov approach, Model predictive control, Robotino, saturating inputs, Sliding mode control

Recently viewed

Activities

  1. Adaptive Teaching interventions in mathematical problem-solving lessons
  2. A conceptual framework on users' digitalisation practices transforming their digital infrastructure for work
  3. Note-taking while Working on Mathematical Modelling Tasks
  4. Teaching the machine how to assess grammar skills. Modelling verb-tense exercise characteristics as a basis for an adaptive E-learning system
  5. Performance resource depletion influence on performance: Advancing concepts and findings
  6. How to observe Culture?
  7. Mirrored piezo servo hydraulic actuators for use in camless combustion engines and its Control with mirrored inputs and MPC
  8. Chain of Fools? Sensemaking Dynamics regarding the Issue of the Blockchain Technology in the FinTech Field
  9. Swarming. Science Fact and Science Fiction of Distributed Intelligence
  10. Collaborative modeling in climatic change adaptation and energy transformation.
  11. Alterations of a visual and how they work for and at the boundaries of an interorganizational team: A multimodal exploration
  12. BDSM Sagacity: embodying complexity
  13. Performativity and Authenticity in the Web 2.0-Enhanced Foreign Language Classroom
  14. LC-MS identification of the photo-transformation products of desipramine with studying the effect of different environmental variables on the kinetics of their formation
  15. Efficacy of an Internet-based problem-solving training for teachers: Results of a randomized controlled trial.
  16. Frame-based Matrix Factorizations
  17. Presentation of the paper entitled "Design of a Real Time Path of Motion Control for Manufacturing Applications"
  18. A Tool for Applications: Wavelet Packets

Publications

  1. Using Complexity Metrics to Assess Silent Reading Fluency
  2. Algebraic combinatorics in mathematical chemistry. Methods and algorithms. I. Permutation groups and coherent (cellular) algebras.
  3. Fast, Fully Automated Analysis of Voriconazole from Serum by LC-LC-ESI-MS-MS with Parallel Column-Switching Technique
  4. Switching from a Managing to a Monitoring Function on the Board
  5. Analysis and Implementation of a Resistance Temperature Estimator Based on Bi-Polynomial Least Squares Method and Discrete Kalman Filter
  6. The Use of Factorization and Multimode Parametric Spectra in Estimating Frequency and Spectral Parameters of Signal
  7. Passive Peak Voltage Sensor for Multiple Sending Coils Inductive Power Transmission System
  8. Set oriented approximation of invariant manifolds
  9. Integrating the underlying structure of stochasticity into community ecology
  10. A Class of Simple Stochastic Online Bin Packing Algorithms
  11. Early Detection of Faillure in Conveyor Chain Systems by Wireless Sensor Node
  12. A reference architecture for the integration of EMIS and ERP-Systems
  13. From Knowledge to Application
  14. Metaphors and Paradigms of the Language Animal—or—The Advantage of seeing “Time Is a Resource” as a Paradigm
  15. Evaluation of standard ERP software implementation approaches in terms of their capability for business process optimization
  16. Modelling and implementation of an Order2Cash Process in distributed systems
  17. Measuring Learning Styles with Questionnaires Versus Direct Observation of Preferential Choice Behavior in Authentic Learning Situations
  18. Optimizing price levels in e-commerce applications with respect to customer lifetime values
  19. Dividing Apples and Pears: Towards a Taxonomy for Agile Transformation
  20. Developing a Complex Portrait of Content Teaching for Multilingual Learners via Nonlinear Theoretical Understandings
  21. Sharing in Christ's rule
  22. Assessment of cognitive load in multimedia learning using dual-task methodology
  23. Detection of coherent oceanic structures via transfer operators
  24. Mathematical relation between extended connectivity and eigenvector coefficients.
  25. Mining Implications From Data
  26. Executive function and Language Learning
  27. Comparing Empirical Methodologies in Pragmatics