Koopman-Operator-Based Robust Data-Driven Control for Wheeled Mobile Robots

被引:20
作者
Ren, Chao [1 ]
Jiang, Hongjian [1 ]
Li, Chunli [1 ]
Sun, Weichao [2 ]
Ma, Shugen [3 ]
机构
[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China
[2] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Harbin 150001, Peoples R China
[3] Ritsumeikan Univ, Dept Robot, Kusatsu, Shiga 5258577, Japan
基金
中国国家自然科学基金;
关键词
Mobile robots; Control systems; Aerospace electronics; Data models; Robot kinematics; Predictive models; Nonlinear dynamical systems; Disturbance observer; Koopman operator; mobile robots; SPECTRAL PROPERTIES; DYNAMICAL-SYSTEMS; TIME CONTROL; MANIPULATORS; STABILITY; OBSERVER;
D O I
10.1109/TMECH.2022.3203518
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The Koopman operator theory offers a way to construct explicit control-oriented high-dimensional linear dynamical models for the original nonlinear systems, solely using the input-output data of the dynamical system. The modeling accuracy of the Koopman model largely depends on the basis functions (lifting functions), dimensionality, and data quality. However, there has not been a systematic way to solve the problems mentioned above. In this article, a Koopman-operator-based robust data-driven control framework is proposed for wheeled mobile robots, via incorporating tools from control theory, to solve the problem of modeling errors of the Koopman model. By employing an extended state observer, the modeling errors of the Koopman model, including unknown external disturbances, are online estimated and compensated in the control signal in real time. Then, sliding-mode control is used to synthesize the controller. Importantly, the method of virtual control input is proposed, to cope with the model errors arising from the rotational motion of all the mobile robots. Besides, stability analysis is conducted, and the optimal dimensionality of the Koopman model is experimentally selected. Finally, experimental tests on an omnidirectional mobile robot are carried out to verify the effectiveness of the proposed control scheme, in terms of tracking performance and robustness.
引用
收藏
页码:461 / 472
页数:12
相关论文
共 32 条
[1]   Active Learning of Dynamics for Data-Driven Control Using Koopman Operators [J].
Abraham, Ian ;
Murphey, Todd D. .
IEEE TRANSACTIONS ON ROBOTICS, 2019, 35 (05) :1071-1083
[2]   Study of dynamics in post-transient flows using Koopman mode decomposition [J].
Arbabi, Hassan ;
Mezic, Igor .
PHYSICAL REVIEW FLUIDS, 2017, 2 (12)
[3]   Data-driven Koopman operators for model-based shared control of human-machine systems [J].
Broad, Alexander ;
Abraham, Ian ;
Murphey, Todd ;
Argall, Brenna .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2020, 39 (09) :1178-1195
[4]   Data-Driven Control of Soft Robots Using Koopman Operator Theory [J].
Bruder, Daniel ;
Fu, Xun ;
Gillespie, R. Brent ;
Remy, C. David ;
Vasudevan, Ram .
IEEE TRANSACTIONS ON ROBOTICS, 2021, 37 (03) :948-961
[5]   Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems With Unknown Dynamics [J].
Bruder, Daniel ;
Fu, Xun ;
Vasudevan, Ram .
IEEE ROBOTICS AND AUTOMATION LETTERS, 2021, 6 (03) :4369-4376
[6]   Koopman Invariant Subspaces and Finite Linear Representations of Nonlinear Dynamical Systems for Control [J].
Brunton, Steven L. ;
Brunton, Bingni W. ;
Proctor, Joshua L. ;
Kutz, J. Nathan .
PLOS ONE, 2016, 11 (02)
[7]   Adaptive Proxy-Based Robust Control Integrated With Nonlinear Disturbance Observer for Pneumatic Muscle Actuators [J].
Cao, Yu ;
Huang, Jian ;
Xiong, Cai-Hua ;
Wu, Dongrui ;
Zhang, Mengshi ;
Li, Zhijun ;
Hasegawa, Yasuhisa .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2020, 25 (04) :1756-1764
[8]   From PID to Active Disturbance Rejection Control [J].
Han, Jingqing .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2009, 56 (03) :900-906
[9]  
Han YQ, 2020, IEEE DECIS CONTR P, P1890, DOI 10.1109/CDC42340.2020.9304238
[10]   High-Order Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems [J].
Huang, Jian ;
Zhang, Mengshi ;
Ri, Songhyok ;
Xiong, Caihua ;
Li, Zhijun ;
Kang, Yu .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2020, 67 (03) :2030-2041