Research Papers

An Adaptive Output Feedback Proportional-Integral-Derivative Controller for n-Link Type (m,s) Electrically Driven Mobile Manipulators

[+] Author and Article Information
Khoshnam Shojaei

Department of Electrical Engineering,
Najafabad Branch,
Islamic Azad University,
Najafabad, Iran
e-mail: khoshnam.shojaee@gmail.com

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received April 12, 2018; final manuscript received February 22, 2019; published online April 9, 2019. Assoc. Editor: Jongeun Choi.

J. Dyn. Sys., Meas., Control 141(9), 091001 (Apr 09, 2019) (10 pages) Paper No: DS-18-1185; doi: 10.1115/1.4043053 History: Received April 12, 2018; Revised February 22, 2019

The design of a trajectory tracking controller for a general class of n-link type (m,s) electrically driven wheeled mobile manipulators has been addressed in this paper. In order to achieve a high level of the tracking performance, an adaptive robust proportional-integral-derivative (PID) controller is proposed which only requires position measurements by designing a velocity observer. Integral actions are incorporated into the design of both controller and observer to reduce the steady-state error as much as possible. The dynamic surface control approach is also applied to reduce the design complexity at the actuator level. Lyapunov's direct method is used to guarantee that tracking and observation errors are semiglobally uniformly ultimately bounded. Simulation results are presented to illustrate the effectiveness of the proposed controller for a group of mobile manipulators.

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Fig. 1

Planar formation of followers with steerable wheels

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Fig. 2

The block diagram of the proposed control system

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Fig. 3

(a) Planar configuration of a type (2,0) two-link WMM and (b) desired formation for three WMMs

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Fig. 4

Formation tracking results: (a) x–y plot, (b) tracking errors, and (c) control signals

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Fig. 5

Formation tracking results: (a) estimated velocity errors and (b) current tracking errors

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Fig. 6

Time evolution of âji, j=1,..,4 and i=1,2,3

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Fig. 7

Time evolution of b̂ji, j=1,..,4 and i=1,2,3



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