A comparative evaluation of adaptive and non-adaptive Sliding Mode, LQR & PID control for platform stabilization

During the uniform locomotion of compliant legged robots and other terrain vehicles, the body of the robot often exhibits complex oscillations which may have a disturbing effect on onboard sensors. For a camera mounted on such a robot, due to perspective projection, the effects of angular disturbances are particularly pronounced as compared to translational disturbances. This paper is motivated by the particular problem of legged robots exhibiting angular body motions and attempts to evaluate the performance of baseline and state-of-the-art controllers for compensating this undesired motion. For this comparative evaluation, a simplified planar camera platform is considered in a Matlab-Simulink based simulation environment but motion disturbances are collected on a physical experimental robot platform. Although the full stabilization problem is in 3D with three independent axes of rotation, we currently consider a planar case on the pitch axis with a kinematic structure very similar to many parallel actuated 3D platforms. We believe that despite the simplified analysis, the presented performance evaluation provides significant insight into the general problem. The work consist of the derivation of the planar platform model followed by the implementation and comparative testing of 4 different controllers, namely Proportional-Integral-Derivative (PID), Linear Quadratic Regulator (LQR), Sliding Mode (SMC) and Adaptive Sliding Mode (ASMC) controllers. Experimental setup, disturbance collection and finally, the controller performance test results are presented and discussed.


An Adaptive Approach for Road Boundary Detection Using 2D LIDAR Sensor
Demir, S. O.; Ertop, T. E.; Koku, Ahmet Buğra; Konukseven, Erhan İlhan (2017-11-18)
Robotic ground vehicles are commonly used in various road conditions for performing special tasks with different levels of autonomy. This requires the robots to possess a certain degree of perception about the road conditions up ahead and make plans accordingly. It is essential for the robots to be able to quickly adapt their perception for various road conditions they operate. In this paper, an adaptive method for road boundary extraction using 2D LIDAR sensor is presented. A three-stage detection algorith...
Pid and lqr control of a planar head stabilization platform
Akgül, Emre; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2011)
During the uniform locomotion of legged robots with compliant legs, the body of the robot exhibits quasi-periodic oscillations that have a disturbing e ect on di erent onboard sensors. Of particular interest is the camera sensor which su ers from image degradation in the form of motion-blur as a result of this camera motion. The e ect of angular disturbances on the camera are pronounced due to the perspective projection property of the camera. The thesis focuses on the particular problem of legged robots ex...
Dynamic Movement Primitives and Force Feedback: Teleoperation in Precision Grinding Process
Açıkgöz, Kemal; Dönder, Abdülhamit; Ugurlu, Musab Cagri; Konukseven, Erhan İlhan (2017-12-02)
In this work, the Dynamic Movement Primitives (DMPs) concept for teleoperation on a robotic deburring machine is investigated. The correspondence problem occurs when human link and joint structures are different than target robot. Thus, transferring human movements to robot is generally problematic. Here, a teleoperation scheme is followed where human movements are directly converted to target robot while imposing capabilities of robot to the operator. A single degree of freedom haptic interface which relay...
A Balance Keeping Control for Humanoid Robots by Using Model Predictive Control
Bilgin, Nurdan; Özgören, Mustafa Kemal (2016-06-01)
Recent improvements in the actuators and the control methods allow the production of humanoid robots that may outperform human beings in balance keeping control under the effect of suddenly occurring disturbances. For this purpose, the current study proposes using the model predictive control (MPC) law in order to provide robustness for a humanoid robot against sudden disturbances. The main motivation for choosing MPC is that it naturally provides precautions against the predicted future disturbances and pa...
A Survey on Tactical Control Algorithms for Path Tracking Unmanned Surface Vehicles
Kumru, Murat; Leblebicioğlu, Mehmet Kemal (2016-11-15)
In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. The strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater vehicle (UUV). USV with the help of its onboard acoustic sensors, tracks UUV according to constant bearing guidance rule. The survey on tactical controllers comprises comparisons of tracking performances of USVs under proportional-integral-derivative, pole p...
Citation Formats
E. Akgul, M. Mutlu, A. Saranlı, and Y. Yazıcıoğlu, “A comparative evaluation of adaptive and non-adaptive Sliding Mode, LQR & PID control for platform stabilization,” 2012, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/31787.