Abstract
This paper proposes a new development of kinematic path-tracking control algorithm for differential wheeled mobile robot system, using back-stepping technique based online auto-tuning slice genetic algorithm (SGA). The aim of the proposed robust feedback nonlinear kinematic controller is to find the optimal velocity control action for the real National Instrument mobile robot model in following a pre-defined continuous path precisely and quickly. The SGA guided by Lyapunov stability criterion is implemented as a stable and robust online auto-tune algorithm to find the optimal parameters for the proposed controller. The robustness and effectiveness of the proposed tuning control algorithm are validated by MATLAB simulation results and LabVIEW experimental work; this is demonstrated by overcoming the unmodeled kinematic disturbances, minimizing the tracking error and obtaining the smooth and optimal velocity control signals, with the minimum number of fitness evaluation.
Similar content being viewed by others
References
Suh J.H., Lee Y.J., Lee K.S.: Object-transportation control of cooperative AGV systems based on virtual-passivity decentralized control algorithm. J. Mech. Sci. Technol. 19, 1720–1730 (2005)
Palacin J., Salse J.A., Valganon I., Clua X.: Building a mobile robot for a floor-cleaning operation in domestic environments. IEEE Trans. Instr. Meas. 53, 1418–1424 (2004)
Pourboghrat F.: Exponential stabilization of nonholonomic mobile robots. Comput. Elect. Eng. 28(5), 349–359 (2002)
Samson C.: Time-varying feedback stabilization of car like wheeled mobile robot. Int. J. Robot. Res. 12(1), 55–64 (1993)
Klancar G., Skrjanc I.: Tracking-error model-based predictive control for mobile robots in real time. Robot. Auton. Syst. 55(6), 460–469 (2007)
Guechi E.-H., Lauber J., Dambrine M., Klancar G., Blazic S.: Control design for non-holonomic wheeled mobile robots with delayed outputs. Int. Robot. Syst. 60(3), 395–414 (2010)
Aydin S., Kilic I., Temeltas H.: Using linde buzo gray clustering neural networks for solving the motion equations of a mobile robot. Arab. J. Sci. Eng. 36(5), 795–807 (2011)
Blazic S.: A novel trajectory-tracking control law for wheeled mobile robots. Robot. Auton. Syst. 59, 1001–1007 (2011)
Yin X., Yang C., Zhou W., Xiong D.: Energy-efficient tracking control for wheeled mobile robots based on bio-inspired neurodynamic. Comput. Inf. Syst. 10(6), 2533–2541 (2014)
Wei H., Wang B., Wang Y., Shao Z., Chan K.C.: Staying-alive path planning with energy optimization for mobile robot. Expert Syst. Appl. 39, 3559–3571 (2012)
Matveev A.S., Wang C., Savkin A.V.: Real-time navigation of mobile robots in problems of border patrolling and avoiding collisions with moving and deforming obstacle. Robot. Auton. Syst. 60, 769–788 (2012)
Linlin X., Changxing T., Xuedong Y., Yunhan K., Yan F.: 2-Dimensional SVFC application in path planning of mobile robots. Energy Procedia 17, 1563–1569 (2012)
Ghita N., Kloetzer M.: Trajectory planning for a car-like robot by environment abstraction. Robot. Auton. Syst. 60, 609–619 (2012)
Siegwart R., Nourbakhah I.R.: Introduction to Autonomous Mobile Robots. MIT Press, Cambridge (2004)
Ye J.: Tracking control for nonholonomic mobile robots: integrating the analog neural network into the backstepping technique. Neurocomputing 71, 3373–3378 (2008)
Ye J.: Adaptive control of nonlinear PID-based analogue neural network for a nonholonomic mobile robot. Neurocomputing 71, 1561–1565 (2008)
Blazic S.: On periodic control laws for mobile robots. IEEE Trans. Ind. Electron. 61(7), 3660–3670 (2014)
Cai N., Cao J.-W., Ma H.-Y., Wang C.-X.: Swarm stability analysis of nonlinear dynamical multi-agent systems via relative Lyapunov function. Arab. J. Sci. Eng. 39(3), 2427–2434 (2014)
Sastry S.: Nonlinear Systems Analysis, Stability and Control. Springer, New York (1999)
Vidyasagar M.: Nonlinear Systems Analysis, 2nd edn. Prentice Hall Inc, Englewood Cliffs (1993)
Dagher K.E.: Design of an auto-tuning PID controller for systems based on slice genetic algorithm. Comput. Commun. Cont. Syst. Eng. 13(3), 1–9 (2013)
Al-Araji A.: Genetic algorithm and Elman neural network used for tuning the parameters of the PID neural controller based model reference. Comput. Commun. Cont. Syst. Eng. 5(1), 111–126 (2005)
Text manual from NI company. http://sine.ni.com/nips/cds/view/p/lang/en/ (2014). Accessed 1 March2014
Al-Araji A., Abbod M., Al-Raweshidy H.: Applying posture identifier in designing an adaptive nonlinear predictive controller for nonholonomic mobile robot. Neurocomputing 99, 543–554 (2013)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Al-Araji, A.S. Development of Kinematic Path-Tracking Controller Design for Real Mobile Robot via Back-Stepping Slice Genetic Robust Algorithm Technique. Arab J Sci Eng 39, 8825–8835 (2014). https://doi.org/10.1007/s13369-014-1461-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s13369-014-1461-4