Singularity Free Stabilizing Controller for Non-Holonomic Mobile Robot Using Novel Sliding Manifold

2021 ◽  
Author(s):  
Padmini Singh ◽  
Subhash Chand Yogi ◽  
Laxmidhar Behera ◽  
Nishchal K. Verma
Keyword(s):  
Mobile Robot ◽  
Stabilizing Controller ◽  
Sliding Manifold ◽  
Holonomic Mobile Robot

Lagrangian D’Alembert Modeled Maneuverable Autonomous Non-Holonomic Mobile Robot Using a Closed Loop PD Controller

2009 ◽  
Author(s):  
E. Georgiou ◽  
J. Dai
Keyword(s):  
Mobile Robot ◽  
Closed Loop ◽  
Ad Hoc ◽  
Search And Rescue ◽  
Pd Controller ◽  
Modeling And Control ◽  
Holonomic Constraints ◽  
And Control ◽  
Holonomic Mobile Robot ◽  
Initial Results

The motivation for this work is to develop a platform for a self-localization device. Such a platform has many applications for the autonomous maneuverable non-holonomic mobile robot classification, which can be used for search and rescue or for inspection devices where the robot has a desired path to follow but because of an unknown terrain, the device requires the ability to make ad-hoc corrections to its movement to reach its desire path. The mobile robot is modeled using Lagrangian d’Alembert’s principle considering all the possible inertias and forces generated, and are controlled by restraining movement based on the holonomic and non-holonomic constraints of the modeled vehicle. The device is controlled by a PD controller based on the vehicle’s holonomic and non-holonomic constraints. An experiment was setup to verify the modeling and control structure’s functionality and the initial results are promising.

Application of Virtual Perception Memory to Control a Non-Holonomic Mobile Robot

1997 ◽  
Vol 30 (7) ◽  
pp. 491-496 ◽  
Author(s):  
B.C. Arrúe ◽  
F. Cuesta ◽  
R. Braunstingl ◽  
A. Ollero
Keyword(s):  
Mobile Robot ◽  
Holonomic Mobile Robot
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