Wheeled Mobile Robot Control
Theory, Simulation, and Experimentation
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Beschreibung
This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
Addresses theoretical, scientific, and practical aspects of differential-drive wheeled nonholonomic mobile robots Provides mathematical modeling of the kinematics and dynamics of differential-drive wheeled nonholonomic mobile robots Presents the design, implementation, and performance of trajectory tracking control systems Proposes kinematic and dynamic trajectory control designs of differential-drive wheeled nonholonomic mobile robots Contains simulation and practical applications that enable the developer to use creativity and imagination to modify, alter, or redo control system designs in kinematic and dynamic scope Gives source code of the control system designs, both kinematic and dynamic Promotes to the related areas an instrument of pedagogical application
Autor*in
Nardênio Almeida Martins
Themen in »Wheeled Mobile Robot Control«
mobile robots dynamic models Trajectory tracking Kinematic control Sliding mode control Dynamic control Lyapunov’s stability theory Formation control