TRACKING CONTROL FOR NONHOLONOMIC WHEELED MOBILE ROBOT WITH WHEEL SLIP DYNAMICS

被引：0

作者：

Tian, Yu ^{[1
]}

Sidek, Shahrul Naim

Sarkar, Nilanjan ^{[1
]}

机构：

[1] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37209 USA

来源：

PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B | 2010年

关键词：

STABILIZATION; KINEMATICS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system with second order nonholonomic constraints. Position tracking control law is developed to asymptotically stabilize the system while it is converging to the desired trajectory, if the traction is not saturated Simulation results are provided to validate the theoretical results.

引用

页码：1651 / 1658

页数：8

共 50 条

[31] Nonlinear Tracking Control of a Wheeled Mobile Robot
Zidani, Ghania
Drid, Said
Chrifi-Alaoui, Larbi
Arar, Djemai
Bussy, Pascal
[J]. 201415th International Conference on Sciences & Techniques of Automatic Control & Computer Engineering (STA'2014), 2014, : 325 - +
[32] Control of a Mobile Robot Subject to Wheel Slip
Yu Tian
Nilanjan Sarkar
[J]. Journal of Intelligent & Robotic Systems, 2014, 74 : 915 - 929
[33] Robust tracking control for a wheeled mobile robot
Tayebi, A
Rachid, A
[J]. MELECON '96 - 8TH MEDITERRANEAN ELECTROTECHNICAL CONFERENCE, PROCEEDINGS, VOLS I-III: INDUSTRIAL APPLICATIONS IN POWER SYSTEMS, COMPUTER SCIENCE AND TELECOMMUNICATIONS, 1996, : 193 - 196
[34] Control of a Mobile Robot Subject to Wheel Slip
Tian, Yu
Sarkar, Nilanjan
[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2014, 74 (3-4) : 915 - 929
[35] Full state tracking and internal dynamics of nonholonomic wheeled mobile robots
Wang, DW
Xu, GY
[J]. PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2000, : 3274 - 3278
[36] Tracking control of a nonholonomic mobile robot by integrating feedback and neural dynamics techniques
Yang, HW
Yang, SX
Mittal, GS
[J]. IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 3522 - 3527
[37] Tracking Control for a Two-Wheel Differentially Driven Nonholonomic Mobile Robot: Performance Comparison
Al-Momani, Fadwa
Al-Tamimi, Asma
Al-Jarrah, Ahmad
Al-Jarrah, Ayat
Salah, Mohammad
[J]. INTERNATIONAL JOURNAL OF MECHANICAL ENGINEERING AND ROBOTICS RESEARCH, 2022, 11 (10): : 724 - 736
[38] A Hybrid Tracking Control Strategy for Nonholonomic Wheeled Mobile Robot Incorporating Deep Reinforcement Learning Approach
Gao, Xueshan
Gao, Rui
Liang, Peng
Zhang, Qingfang
Deng, Rui
Zhu, Wei
[J]. IEEE ACCESS, 2021, 9 : 15592 - 15602
[39] Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure
Cen, Hua
Singh, Bhupesh Kumar
[J]. WIRELESS COMMUNICATIONS & MOBILE COMPUTING, 2021, 2021
[40] Trajectory tracking for a wheeled mobile robot with an omnidirectional wheel on uneven ground
Yang, Hongjiu
Wang, Shizhan
Zuo, Zhiqiang
Li, Peng
[J]. IET CONTROL THEORY AND APPLICATIONS, 2020, 14 (07): : 921 - 929

← 1 2 3 4 5 →