We present a safety-critical controller for the problem of stabilization for force-controlled nonholonomic mobile robots. The proposed control law is based on the constructions of control Lyapunov functions (CLFs) and control barrier functions (CBFs) for cascaded systems. To address nonholonomicity, we design the nominal controller that guarantees global asymptotic stability and local exponential stability for the closed-loop system in polar coordinates and construct a strict Lyapunov function valid on any compact sets. Furthermore, we present a procedure for constructing CBFs for cascaded systems, utilizing the CBF of the kinematic model through integrator backstepping. Quadratic programming is employed to combine CLFs and CBFs to integrate both stability and safety in the closed loop. The proposed control law is time-invariant, continuous along trajectories, and easy to implement. Our main results guarantee both safety and local asymptotic stability for the closed-loop system.
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically constrained interconnections of rigid bodies whose configuration space is $SE(3)$, which is not even topologically Euclidean, a geometric PID controller has been developed for mechanical systems evolving on Lie groups. In this work, we extend the framework to such systems which have nonholonomic constraints. It encompasses many practically applicable mechanical s…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference trajectory can be arbitrarily chosen, in the sense that the condition of persistency excitation and any other requirements are not imposed on the leader. In this paper, at first, the tracking control of one leader with single follower is taken into consideration, which is converted to the stabilization of two relative subsystems by the design of an adjoint system. Th…
This paper extends the gap-based navigation technique in Potential Gap by guaranteeing safety for nonholonomic robots for all tiers of the local planner hierarchy, so called Safer Gap. The first tier generates a Bezier-based collision-free path through gaps. A subset of navigable free-space from the robot through a gap, called the keyhole, is defined to be the union of the largest collision-free disc centered on the robot and a trapezoidal region directed through the gap. It is encoded by a shallow neural network zeroing barrier function (ZBF). Nonlinear model predictive control (NMPC), with K…
Northern Arizona University（北亚利桑那大学）；Federation University Australia（澳大利亚联邦大学）
This paper discusses the adaptive sampling problem in a nonholonomic mobile robotic sensor network for efficiently monitoring a spatial field. It is proposed to employ Gaussian process to model a spatial phenomenon and predict it at unmeasured positions, which enables the sampling optimization problem to be formulated by the use of the log determinant of a predicted covariance matrix at next sampling locations. The control, movement and nonholonomic dynamics constraints of the mobile sensors are also considered in the adaptive sampling optimization problem. In order to tackle the nonlinearity …
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower are variable parameters, and therefore, the followers can carry out various and complex behaviour even without changing the linear and angular velocities of the leader robot. After proposing the kinematic model of the time-varying leader-follower formation, the backstepping control method is exploited to keep the structure of the defined formation. The global…
Motion Planning of Cooperative Nonholonomic Mobile Manipulators
Department of Mechanical Engineering, Indian Institute of Technology Bombay（印度理工学院班加罗尔机械工程系）；Center for Systems and Control, Indian Institute of Technology Bombay（印度理工学院班加罗尔系统控制中心）
Low-Complexity Cooperative Payload Transportation for Nonholonomic Mobile Robots Under Scalable Constraints
School of Mechanical Electrical Engineering and Automation, Harbin Institute of Technology Shenzhen（哈尔滨工业大学（深圳）机电工程与自动化学院）；School of Control Science and Engineering, Shandong University（山东大学控制科学与工程学院）；School of Automation and Intelligent Manufacturing, Southern University of Science and Technology（南方科技大学自动化与智能制造学院）
Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control of such systems in a generic, distributed approach. In this work we extend a recently developed distributed Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method to such systems. More specifically, relying on port-Hamiltonian system modelling for networks of mechanical systems, we propose a full-state stabilization control law for a…
Data-Driven Predictive Control of Nonholonomic Robots Based on a Bilinear Koopman Realization: Data Does Not Replace Geometry
Institute of Engineering and Computational Mechanics (ITM), University of Stuttgart（工程与计算力学研究所（ITM），斯图加特大学）；Optimization-based Control Group, Institute of Mathematics, Technische Universität Ilmenau（优化控制组，数学研究所，伊尔梅瑙技术大学）；Department of Mechanical Engineering, LUT University（机械工程系，卢托大学）
Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model Predictive Control (NMPC) is designed and implemented to a 10 Degrees of Freedom (DOF) mobile manipulator which consists of a 7-DOF robotic arm and a 3-DOF mobile base. The system model is based on kinematic models where the end-effector orientation is parameterized directly by a rotation matrix. The state and control constraints as well as singularity constraints …
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
Centre for Automation and Robotics (CSIC-UPM)（自动化与机器人中心（CSIC-UPM））；Comillas Pontifical University（科米利亚斯主教大学）；IE University（IE大学）；University of Michigan（密歇根大学）
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction of system state from delayed measurement. The state estimator combined with developed control laws ensures the asymptotic stability of the networked system. Simulations with parameters extracted from a real robot system were conducted and results confirmed the correctness as well as applicability of proposed approach.
This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid body and introduce the orientation as well as position constraints for the robot's final states. In other words, robots should not only reach the specified positions, but also point to the desired orientations simultaneously. The challenge of this problem lies in the underactuation of full-state motion planning, since three states need to be planned by mere t…
Decentralized Rendezvous of Nonholonomic Robots with Sensing and Connectivity Constraints
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, USA（机械与航空航天工程系，佛罗里达大学，盖恩斯维尔，美国）；Munitions Directorate, Air Force Research Laboratory, Eglin AFB, FL 32542, USA（弹药局，空军研究实验室，埃格林空军基地，佛罗里达州，32542，美国）；Department of Electrical and Computer Engineering, University of Florida, Gainesville, USA（电气与计算机工程系，佛罗里达大学，盖恩斯维尔，美国）
In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC) framework is presented. The two wheeled mobile robot is modeled as a knife edge or a skate with nonholonomic kinematic constraints and the dynamical equations are derived using the Lagrangian approach. The inputs at every time instant are obtained from Model Predictive Control (MPC) with a set of nominal parameters which are updated using a recursive least squares algorithm. The efficacy of the algorithm is demonstra…
Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks
Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, CAS（系统与控制重点实验室，数学与系统科学研究院）；Department of Automation, Shanghai Jiaotong University（自动化系，上海交通大学）；School of Sciences, Hebei University of Technology（理学院，河北工业大学）；School of Engineering and Information Technology, University of New South Wales（工程与信息技术学院，新南威尔士大学）；Systems Theory, KTH Royal Institute of Technology（系统理论，皇家理工学院）
Integrated YOLOP Perception and Lyapunov-based Control for Autonomous Mobile Robot Navigation on Track
Graduate School of Science and Technology（科学与技术研究生学院）；Master’s Program in Science and Technology（科学技术硕士项目）；Green Science and Engineering Division（绿色科学与工程系）
The heterogeneous system consisting of the wireless control system (WCS) and mobile agent system (MAS) is ubiquitous in Industrial Internet of Things (IIoT) systems. Within this system, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise the WCS's performance. This paper focuses on the controller design for the MAS to ensure the performance of WCS in the presence of WCS and MAS coupling. Firstly, the constrained finite field network (FFN) with profile-dependent switching topology is adopted to proceed…
SLAP: Simultaneous Localization and Planning Under Uncertainty for Physical Mobile Robots via Dynamic Replanning in Belief Space: Extended version
NASA-JPL, Caltech（NASA-喷气推进中心，加州理工学院）；Dept. of Aerospace Eng. and Amato is with the Dept. of Computer Science（航空航天工程系和计算机科学系）；Dept. of Computer Science（计算机科学系）
