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Abstract

In multi-axis motion control systems, the tracking errors of single axis load and the contour errors caused by the mismatch of dynamic characteristics between the moving axes will affect the accuracy of the motion control system. To solve this issue, a biaxial motion control strategy based on double-iterative learning and cross-coupling control is proposed. The proposed control method improves the accuracy of the motion control system by improving individual axis tracking performance and contour tracking performance. On this basis, a rapid control prototype (RCP) is designed, and the experiment is verified by the hardware and software platforms, LabVIEW and Compact RIO. The whole design shows enhancement in the precision of the motion control of the multiaxis system. The performance in individual axis tracking and contour tracking is greatly improved.
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Abstract

The paper addresses optimal control problem of mobile manipulators. Dynamic equations of those mechanisms are assumed herein to be uncertain. Moreover, unbounded disturbances act on the mobile manipulator whose end-effector tracks a desired (reference) trajectory given in a task (Cartesian) space. A computationally efficient class of two-stage cascaded (hierarchical) control algorithms based on both the transpose Jacobian matrix and transpose actuation matrix, has been proposed. The offered control laws involve two kinds of non-singular terminal sliding mode (TSM) manifolds, which were also introduced in the paper. The proposed class of cooperating sub-controllers is shown to be finite time stable by fulfilment of practically reasonable assumptions. The performance of the proposed control strategies is illustrated on an exemplary mobile manipulator whose end-effector tracks desired trajectory.
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Abstract

In this paper we propose a sensor-based navigation method for navigation of wheeled mobile robot, based on the Kohonen self-organising map (SOM). We discuss a sensor-based approach to path design and control of wheeled mobile robot in an unknown 2-D environment with static obstacles. A strategy of reactive navigation is developed including two main behaviours: a reaching the middle of a collision-free space behaviour, and a goal-seeking behaviour. Each low-level behaviour has been designed at design stage and then fused to determine a proper actions acting on the environment at running stage. The combiner can fuse low-level behaviours so that the mobile robot can go for the goal position without colliding with obstacles one for the convex obstacles and one for the concave ones. The combiner is a softswitch, based on the idea of artificial potential fields, that chooses more then one action to be active with diRerent degrees at each time step. The output of the navigation level is fed into a neural tracking controller that takes into account the dynamics of the mobile robot. The purpose of the neural controller is to generate the commands for the servo-systems of the robot so it may choose its way to its goal autonomously, while reacting in real-time to unexpected events. Computer simulation has been conducted to illustrate the performance of the proposed solution by a series of experiments on the emulator of wheeled mobile robot Pioneer-2DX.
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Abstract

The Bulletin of the Polish Academy of Sciences: Technical Sciences (Bull.Pol. Ac.: Tech.) is published bimonthly by the Division IV Engineering Sciences of the Polish Academy of Sciences, since the beginning of the existence of the PAS in 1952. The journal is peer‐reviewed and is published both in printed and electronic form. It is established for the publication of original high quality papers from multidisciplinary Engineering sciences with the following topics preferred: Artificial and Computational Intelligence, Biomedical Engineering and Biotechnology, Civil Engineering, Control, Informatics and Robotics, Electronics, Telecommunication and Optoelectronics, Mechanical and Aeronautical Engineering, Thermodynamics, Material Science and Nanotechnology, Power Systems and Power Electronics. Journal Metrics: JCR Impact Factor 2018: 1.361, 5 Year Impact Factor: 1.323, SCImago Journal Rank (SJR) 2017: 0.319, Source Normalized Impact per Paper (SNIP) 2017: 1.005, CiteScore 2017: 1.27, The Polish Ministry of Science and Higher Education 2017: 25 points. Abbreviations/Acronym: Journal citation: Bull. Pol. Ac.: Tech., ISO: Bull. Pol. Acad. Sci.-Tech. Sci., JCR Abbrev: B POL ACAD SCI-TECH Acronym in the Editorial System: BPASTS.
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