A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Advanced Search
Volume 4 Issue 4
Oct.  2017

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 15.3, Top 1 (SCI Q1)
    CiteScore: 23.5, Top 2% (Q1)
    Google Scholar h5-index: 77， TOP 5
Turn off MathJax
Article Contents
Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2017  >  4(4): 610-619
Ping Sun and Zhuang Yu, "Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity," IEEE/CAA J. Autom. Sinica, vol. 4, no. 4, pp. 610-619, Oct. 2017. doi: 10.1109/JAS.2017.7510607
Citation: Ping Sun and Zhuang Yu, "Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity," IEEE/CAA J. Autom. Sinica, vol. 4, no. 4, pp. 610-619, Oct. 2017. doi: 10.1109/JAS.2017.7510607
shu

Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity

doi: 10.1109/JAS.2017.7510607

  • School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, China

Funds:

the Program for Liaoning Excellent Talents in University of China LJQ2014013

the Liaoning Natural Science Foundation of China 2015020066

More Information
    Abstract
  • This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed to maintain stability in terms of solutions of linear matrix inequalities and the controller's performance with safe angular velocity constraints is derived. The simulation and experiment results confirm the effectiveness of the proposed method and verify that the angular velocity of the cushion robot provided safe motion with obstacle avoidance.

     

    • FullText(HTML)
  • loading
    • Recommended by Associate Editor Wei He
    References(21)
  • [1]
    L. Z. Pan, A. G. Song, S. L. Duan, and B. G. Xu, "Robot-assisted humanized passive rehabilitation training based on online assessment and regulation, " Bio-Med. Mater. Eng. , vol. 26, no. S1, pp. S655-S664, Sep. 2015. http://med.wanfangdata.com.cn/Paper/Detail?id=PeriodicalPaper_PM26406061
    [2]
    Z. Guo, H. Y. Yu, and Y. H. Yin, "Developing a mobile lower limb robotic exoskeleton for gait rehabilitation, " J. Med. Devices, vol. 8, no. 4, Article ID 044503, Aug. 2014. http://www.mendeley.com/catalog/developing-mobile-lower-limb-robotic-exoskeleton-gait-rehabilitation/
    [3]
    S. Mohammed, Y. Amirat, and H. Rifai, "Lower-limb movement assistance through wearable robots: State of the art and challenges, " Adv. Robot. , vol. 26, no. 1-2, pp. 1-22, Apr. 2012. doi: 10.1163/016918611X607356
    [4]
    D. Zanotto, Y. Akiyama, P. Stegall, and S. K. Agrawal, "Knee joint misalignment in exoskeletons for the lower extremities: Effects on user's gait, " IEEE Trans. Robot. , vol. 31, no. 4, pp. 978-987, Aug. 2015. http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=7177145
    [5]
    P. Sun and S. Y. Wang, "Redundant input safety tracking for omnidirectional rehabilitative training walker with control constraints, " Asian J. Control, vol. 19, no. 1, pp. 116-130, Jan. 2017. https://www.researchgate.net/publication/303695356_Redundant_Input_Safety_Tracking_for_Omnidirectional_Rehabilitative_Training_Walker_with_Control_Constraints_Safety_Tracking_for_Walker_with_Control_Constraints
    [6]
    R. P. Tan, S. Y. Wang, and Y. L. Jiang, "Motion control of a cushion robot considering load change and center of gravity shift, " J. Syst. Des. Dyn. , vol. 6, no. 5, pp. 740-753, Dec. 2012. http://ci.nii.ac.jp/naid/130003368505
    [7]
    Q. Liu, D. Liu, W. Meng, Z. D. Zhou, and Q. S. Ai, "Fuzzy sliding mode control of a multi-DOF parallel robot in rehabilitation environment, " Int. J. Human. Robot. , vol. 11, no. 1, Article ID 1450004, Apr. 2014. doi: 10.1142/S0219843614500042
    [8]
    W. He, S. S. Ge, Y. N. Li, E. Chew, and Y. S. Ng, "Neural network control of a rehabilitation robot by state and output feedback, " J. Intell. Robot. Syst. , vol. 80, no. 1, pp. 15-31, Oct. 2015. doi: 10.1007/s10846-014-0150-6
    [9]
    J. F. Zhang, Y. M. Dong, C. J. Yang, Y. Geng, Y. Chen, and Y. Yang, "5-Link model based gait trajectory adaption control strategies of the gait rehabilitation exoskeleton for post-stroke patients, " Mechatronics, vol. 20, no. 3, pp. 368-376, Aug. 2010. http://www.sciencedirect.com/science/article/pii/S0957415810000322
    [10]
    P. Sun and S. Y. Wang, "Redundant input guaranteed cost non-fragile tracking control for omnidirectional rehabilitative training walker, " Int. J. Control Automat. Syst. , vol. 13, no. 2, pp. 454-462, Apr. 2015. doi: 10.1007/s12555-013-0445-6
    [11]
    S. Dale, C. Rusu, A. Bara, and E. Szoke, "Fuzzy based reactive controller for a small mobile robot platform, " J. Comp. Sci. Control Syst. , vol. 5, no. 1, pp. 89-94, May 2012. http://connection.ebscohost.com/c/articles/93664067/fuzzy-based-reactive-controller-small-mobile-robot-platform
    [12]
    D. W. Kim, T. A. Lasky, and S. A. Velinsky, "Autonomous multi-mobile robot system: simulation and implementation using fuzzy logic, " Int. J. Control Autom. Syst. , vol. 11, no. 3, pp. 545-554, Jun. 2013. doi: 10.1007/s12555-012-0096-z
    [13]
    V. Agarwal, "Trajectory planning of redundant manipulator using fuzzy clustering method, " Int. J. Adv. Manuf. Technol. , vol. 61, no. 5-8, pp. 727-744, Jul. 2012. doi: 10.1007/s00170-011-3723-6
    [14]
    Z. Y. Zhou, Z. G. Zhang, and X. W. Luo, "A fuzzy path preview algorithm for the rice transplanting robot navigation system, " J. Softw. , vol. 9, no. 4, pp. 881-888, Apr. 2014. http://ojs.academypublisher.com/index.php/jsw/article/view/10896
    [15]
    P. K. Mohanty and D. R. Parhi, "Path planning strategy for mobile robot navigation using MANFIS controller, " in Proceedings of the International Conference on Frontiers of Intelligent Computing: Theory and Applications (FICTA) 2013, S. C. Satapathy, S. K. Udgata, and B. N. Biswal, Eds. Switzerland: Springer, 2014, pp. 353-361. doi: 10.1007/978-3-319-02931-3_40
    [16]
    Y. L. Jiang, S. Y. Wang, K. Ishida, Y. Kobayashi, and M. G. Fujie, "Directional control of an omnidirectional walking support walker: adaptation to individual differences with fuzzy learning, " Adv. Robot. , vol. 28, no. 7, pp. 479-485, Jan. 2014. doi: 10.1080/01691864.2013.876935
    [17]
    Y. M. Li, S. C. Tong, and T. S. Li, "Adaptive fuzzy output-feedback control for output constrained nonlinear systems in the presence of input saturation, " Fuzzy Sets Syst. , vol. 248, pp. 138-155, Aug. 2014. http://www.sciencedirect.com/science/article/pii/S0165011413004624
    [18]
    J. P. Kolhe, M. Shaheed, T. S. Chandar, and S. E. Talole, "Robust control of robot manipulators based on uncertainty and disturbance estimation, " Int. J. Robust Nonlinear Control, vol. 23, no. 1, pp. 104-122, Jam. 2013. http://www.ingentaconnect.com/content/bpl/rnc/2013/00000023/00000001/art00007
    [19]
    M. Yue, G. Q. Wu, S. Wang, and C. An, "Disturbance observer-based trajectory tracking control for nonholonomic wheeled mobile robot subject to saturated velocity constraint, " Appl. Artif. Intell. , vol. 28, no. 8, pp. 751-765, Oct. 2014. doi: 10.1080/08839514.2014.952918
    [20]
    J. Moreno-Valenzuela and V. Santibáñez, "Robust saturated PI joint velocity control for robot manipulators, " Asian J. Control, vol. 15, no. 1, pp. 64-79, Jan. 2013. doi: 10.1002/asjc.586/full
    [21]
    B. Niu and J. Zhao, " Brief Paper-output tracking control for a class of switched non-linear systems with partial state constraints, " IET Control Theory Appl. , vol. 7, no. 4, pp. 623-631, Mar. 2013. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6544376
    • Related Articles
    • Supplements(0)

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(29)  / Tables(1)

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (1521) PDF downloads(166) Cited by()

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return