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Optimal sliding control of mobile manipulators

M. Galicki
Bulletin of the Polish Academy of Sciences Technical Sciences | 2019 | 67 | No. 4 | 777-788 | DOI: 10.24425/bpasts.2019.130187
Keywords mobile manipulator trajectory tracking finite time control
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Abstract

The paper addresses optimal control problem of mobile manipulators. Dynamic equations of those mechanisms are assumed herein to be uncertain. Moreover, unbounded disturbances act on the mobile manipulator whose end-effector tracks a desired (reference) trajectory given in a task (Cartesian) space. A computationally efficient class of two-stage cascaded (hierarchical) control algorithms based on both the transpose Jacobian matrix and transpose actuation matrix, has been proposed. The offered control laws involve two kinds of non-singular terminal sliding mode (TSM) manifolds, which were also introduced in the paper. The proposed class of cooperating sub-controllers is shown to be finite time stable by fulfilment of practically reasonable assumptions. The performance of the proposed control strategies is illustrated on an exemplary mobile manipulator whose end-effector tracks desired trajectory.

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Authors and Affiliations

M. Galicki

Model predictive ship trajectory tracking system based on line of sight method

Anna Miller
Bulletin of the Polish Academy of Sciences Technical Sciences | 2023 | 71 | 5 | e145763 | DOI: 10.24425/bpasts.2023.145763
Keywords model predictive control MPC ship control autonomous ship trajectory tracking line of sight LOS
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Abstract

Maritime Autonomous Surface Ships (MASS) perfectly fit into the future vision of merchant fleet. MASS autonomous navigation system combines automatic trajectory tracking and supervisor safe trajectory generation subsystems. Automatic trajectory tracking method, using line-of-sight (LOS) reference course generation algorithm, is combined with model predictive control (MPC). Algorithm for MASS trajectory tracking, including cooperation with the dynamic system of safe trajectory generation is described. It allows for better ship control with steady state cross-track error limitation to the ship hull breadth and limited overshoot after turns. In real MASS ships path is defined as set of straight line segments, so transition between trajectory sections when passing waypoint is unavoidable. In the proposed control algorithm LOS trajectory reference course is mapped to the rotational speed reference value, which is dynamically constrained in MPC controller due to dynamically changing reference trajectory in real MASS system. Also maneuver path advance dependent on the path tangential angle difference, to ensure trajectory tracking for turns from 0 to 90 degrees, without overshoot is used. All results were obtained with the use of training ship in real–time conditions.
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Authors and Affiliations

Anna Miller
1
ORCID: ORCID
  1. Gdynia Maritime University, ul. Morska 81-87, 81-225 Gdynia, Poland

Trajectory tracking control of a mobile manipulator with an external force compensation

Mirosław Galicki
Bulletin of the Polish Academy of Sciences Technical Sciences | 2021 | 69 | 5 | e137943 | DOI: 10.24425/bpasts.2021.137943
Keywords non-holonomic mobile manipulator unstructured external forces trajectory tracking robust task space control Lyapunov stability
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Abstract

This paper considers the problem of the accurate task space finite-time control susceptible to both undesirable disturbance forces exerted on the end-effector and unknown friction forces coming from joints directly driven by the actuators as well as unstructured forces resulting from the kinematic singularities appearing on the mechanism trajectory. We obtain a class of estimated extended transposed Jacobian controllers which seem to successfully counteract the external disturbance forces on the basis of a suitably defined task-space non-singular terminal sliding manifold (TSM) and the Lyapunov stability theory. Moreover, in order to overcome (or to minimise) the undesirable chattering effects, the proposed robust control law involves the second-order sliding technique. The numerical simulations (closely related to an experiment) ran for a mobile manipulator consisting of a non-holononic platform of (2;0) type and a holonomic manipulator of two revolute kinematic pairs show the performance of the proposed controllers and make a comparison with other well-known control schemes.
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Authors and Affiliations

Mirosław Galicki
1
  1. Centrum Badan Kosmicznych Polskiej Akademii Nauk, ul. Bartycka 18A, 00-716 Warsaw, Poland

Robust continuous third-order finite time sliding mode controllers for exoskeleton robot

Ratiba Fellag Mohamed Guiatni Mustapha Hamerlain Noura Achour
Archive of Mechanical Engineering | 2021 | vol. 68 | No 4 | 395-414 | DOI: 10.24425/ame.2021.138399
Keywords exoskeleton robot higher order sliding control homogeneous robust trajectory tracking rehabilitation
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Abstract

In this work, continuous third-order sliding mode controllers are presented to control a five degrees-of-freedom (5-DOF) exoskeleton robot. This latter is used in physiotherapy rehabilitation of upper extremities. The aspiration is to assist the movements of patients with severe motor limitations. The control objective is then to design adept controllers to follow desired trajectories smoothly and precisely. Accordingly, it is proposed, in this work, a class of homogeneous algorithms of sliding modes having finite-time convergence properties of the states. They provide continuous control signals and are robust regardless of non-modeled dynamics, uncertainties and external disturbances. A comparative study with a robust finite-time sliding mode controller proposed in literature is performed. Simulations are accomplished to investigate the efficacy of these algorithms and the obtained results are analyzed.
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Bibliography

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Authors and Affiliations

Ratiba Fellag
1 3
ORCID: ORCID
Mohamed Guiatni
2
ORCID: ORCID
Mustapha Hamerlain
1
Noura Achour
3
  1. Centre de Développement des Technologies Avancées, Alger, Algérie.
  2. Laboratoire LCS^2, Ecole Militaire Polytechnique, Alger, Algérie.
  3. Laboratoire LRPE, Université des Sciences et de la Technologie Houari Boumediene, Alger, Algérie.

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