A robust path following algorithm based on the orthogonal Bishop parametrization for a non-holonomic mobile manipulator

• Autorzy: Mazur Alicja , Dyba Filip

Identyfikatory

DOI

10.61822/amcs-2025-0015

• Języki publikacji: EN

Abstrakty

EN

We deal with the fundamental problem of path following applied to control mobile manipulators. A parametric-based path following algorithm is proposed. Such an approach results in a cascaded structure of the control system, so that the control algorithm is designed using the backstepping integrator method. The proposed solution is robust due to the following features. Firstly, it is based on the Bishop parametrization, which is well-defined at every point of the curve. Moreover, we present a novel approach to the orthogonal projection method onto the path so that the motion precisely along the path is possible. Finally, the robustness to structural and parametric uncertainties of the dynamics model is guaranteed thanks to the sliding mode controller applied at the dynamic level of the control cascade. The problem is analyzed theoretically. The achieved results are verified with an exemplary simulation study. The proposed algorithm assures asymptotic convergence of errors to zero for less strict requirements imposed on the desired path and in the case of partial knowledge of the dynamics model.

Słowa kluczowe

EN

backstepping integrator control; nonholonomic mobile manipulator; orthogonal Bishop parametrization; singularity avoidance; path following algorithm; sliding mode controller

PL

sterowanie cofaniem; nieholonomiczny manipulator mobilny; kontroler trybu ślizgowego

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2025
• Tom: Vol. 35, no. 2
• Strony: 209--224
• Opis fizyczny: Bibliogr. 49 poz., rys., tab., wykr.

Twórcy

autor

Mazur Alicja

• Department of Cybernetics and Robotics, Wrocław University of Science and Technology, Janiszewskiego Street 11/17, 50-372 Wrocław, Poland

autor

Dyba Filip

• Department of Cybernetics and Robotics, Wrocław University of Science and Technology, Janiszewskiego Street 11/17, 50-372 Wrocław, Poland

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025).