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We have been developing an exoskeleton robot (ExoRob) for assisting daily upper limb movements (i.e., shoulder, elbow and wrist). In this paper we have focused on the development of a 2DOF ExoRob to rehabilitate elbow joint flexion/extension and shoulder joint internal/external rotation, as a step toward the development of a complete (i.e., 3DOF) shoulder motion assisted exoskeleton robot. The proposed...
This paper discusses a method of nonholonomic robot formation control based on leader-follower. The leader moves along a designated trajectory, the follower keeps a specified distance and angle when following the leader so as to keep a certain formation. Sliding-mode control strategy is introduced in, the sliding mode surface functions are designed to make robots asymptotically stabilize to a time-varying...
This paper presents an adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic...
A filter for trajectories smoothing is presented. The filter provides an output reproducing the input trajectory if this is compliant with given constraints on the velocity, the acceleration and the torque required for tracking it. Otherwise, the filter approximates the input profile guaranteeing that the output trajectory satisfies all the kinematic and dynamic limits. The tracking of the input signal...
As a stage toward a complete upper-arm motion assisted exoskeleton robot (i.e., 7DOF) this paper focused on the development of a 2DOF exoskeleton robot to rehabilitate and to ease wrist joint movements. To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and proper functioning of the upper-limb is essential. We therefore have been developing an exoskeleton...
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
This paper presents a backstepping sliding-mode motion control method for trajectory tracking and stabilization of a self-balancing two-wheeled robot (SBTWR). A decoupling method is proposed to decouple the robot's dynamic model such that the motion controller can be synthesized in both kinematic and dynamic levels. In the kinematic level, two virtual controls for trajectory tracking and stabilization...
The trajectory tracking control problem of nonholonomic mobile robots with parameter uncertainties has been analyzed. The kinematics and dynamical models of mobile robots are taken into account, the control rule based on the kinematics model is taken as desired virtual control, and the adaptive sliding mode controller is designed, as the controller take into account both kinematics and dynamical model,...
In this paper, we consider the problem of navigation and guidance of a Dubins-like wheeled robot towards a steady or maneuvering target with range-only information. We propose a range-based sliding mode controller through which the robot follows a target with a constant speed while preserving a predefined range margin from the target. Mathematically rigorous proof of convergence and stability of the...
A novel formation control strategy with collision avoidance is presented for the case of two point robots moving in the plane. The control law is based on the design of attractive and repulsive vector fields which guarantee the non-existence of undesired equilibria. The strategy falls in a variable structure control approach which guarantees convergence to the desired formation and non-collision for...
In this paper, a combined intelligent technique is introduced for the trajectory tracking control of a nonholonomic wheeled mobile robot (WMR), which comprises an interval type-2 fuzzy kinematic control (IT2-FKC) and an interval type-2 fuzzy terminal sliding-mode dynamic control (IT2-FTSMDC). Firstly, an interval type-2 fuzzy logic controller designed for the kinematic model of the WMR is introduced,...
While nonholonomic powered wheelchairs (NPWs) have made advances over the past three decades, the control algorithms remain virtually unchanged since 1980's. The simple proportional integral (PI) controller is antiquated, and does not perform well in the presence of disturbances, sensors uncertainties, nonlinearities and load variations. The practical interest is driven by the fact that today's wheelchairs...
In this paper, an improved sliding mode algorithm with global asymptotic stability is presented for tracking control of nonholonomic mobile robot. Centroid offset parameters are used in the design of the controller, which can drive the position error to zero quickly in the premise of guaranteeing stability of the whole system. The Kinematics mathematical model and the position and posture error model...
This paper is concerned with cooperative control for trajectory tracking of multiple biomimetic robotic fish using neural network based sliding mode control method. An experiment system is set up for multiple robotic fish cooperation, in which the information of robotic fish and the target points of the planned trajectory are sent to each robotic fish. Based on the received information, robotic fish...
This paper proposes a formation control strategy for uncertain Euler-Lagrange mobile agents based on artificial potential functions and robust adaptive control. A desired kinematic model is derived from a given potential function. The system parametric uncertainties and external disturbances are compensated by a robust adaptive control algorithm named binary adaptive control which combines the good...
In this paper, a trajectory tracking control for a nonholonomic mobile robot by the integration of a kinematic controller and neural dynamic controller is investigated, where the wheel actuator (e.g., dc motor) dynamics is integrated with mobile robot dynamics and kinematics so that the actuator input voltages are the control inputs. The proposed neural dynamic controller (PNDC), based on the sliding...
Rigid planar space robot is represented as Caplygin system and its base attitude can be stabilized by means of geometric phase. However, in cases when flexible arms are used for control of base attitude, inherent resonance modes are excited and instability is resulted. In this study we propose a stabilized controller is synthesized as adaptive tracking control system convined with sliding mode control...
This paper presents the problem of trajectory tracking control for the nonholonomic six-wheeled mobile robot. Based on backstepping control algorithm, a switch function for quasi-sliding mode control is designed and a quasi-sliding mode controller with global asymptotically stability is proposed for the kinematic model. This method simplifies the controller design and is applicable to the trajectory...
In this paper, a robust control technique (sliding mode control) is proposed to be used in order to perform visual servoing for differential-drive mobile robots using the classical teach-by-showing strategy. We propose a commuted sliding mode control law that exploits the epipolar geometry. The major contribution of the paper is the design of a control law that solves the problem of passing through...
The paper presents a new controller for robot manipulator with nonlinear friction combing with the slide variable structure control theory. In the paper, the generalized coordinates, its first and second derivatives in the regressor are replaced by its desired value, and the variable structure adaptive controller for robot manipulator based on desired trajectory is formed. The adaptive scheme has...
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