Dynamic Modeling And Inverse Dynamic Control Of Mobile Robot

被引：0

作者：

Azaza, Awatef ^{[1
]}

Ben Hamed, Mouna ^{[1
]}

机构：

[1] Univ Gabes, Natl Engineer Sch Gabes, Res Unit Photovolta Wind & Geothermal Syst, Rue Omar Ibn Elkhattab, Zrig 6029, Gabes, Tunisia

来源：

2017 INTERNATIONAL CONFERENCE ON GREEN ENERGY & CONVERSION SYSTEMS (GECS) | 2017年

关键词：

modeling dynamic; inverse dynamic control; mobile robot;

D O I：

暂无

中图分类号：

X [环境科学、安全科学];

学科分类号：

08 ; 0830 ;

摘要：

This paper presents a dynamic modeling and control studies of mobile robot. The robot is mainly built all around three wheels and platform. A mathematical model of unicycle mobile robot is determined by kinematic and dynamic model. The dynamic modelling equations are based on lagrangian formulation. The motion control strategy is based on the inverse of dynamic control. This leads to accurate tracking of trajectory. The goal to reach in this paper is to improve the performances of inverse dynamic control of mobile robot. The validity of the proposed controller is demonstrated by the simulation of two wheels mobile robots case.

引用

页数：5

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