Differential flatness-based kinematic and dynamic control of a differentially driven wheeled mobile robot

2009 ◽  
Author(s):  
Chin Pei Tang
Keyword(s):  
Mobile Robot ◽  
Dynamic Control ◽  
Wheeled Mobile Robot ◽  
Differential Flatness ◽  
Kinematic And Dynamic Control

Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

2008 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Differential Flatness ◽  
Robust Controllers ◽  
Robust Controller ◽  
Planning And Control ◽  
Tracking Controllers ◽  
Simulation Results ◽  
And Control

In this paper, we present two robust trajectory-tracking controllers for a differentially driven two-wheeled mobile robot using its kinematic and dynamic model in the presence of slip. The structure of the differential flatness-based controller, which is an integrated framework for planning and control, is extended in this paper to account for slip disturbances by adding a corrective control term. Simulation results for both kinematic and dynamic controllers are presented to demonstrate the effectiveness of the robust controllers. Experiments with the kinematic controller were conducted to validate the performance of the robust controller. The simulation and experimental results show that the robust controllers are very effective in the presence of slip.

scholarly journals Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Fujie Wang ◽  
Yi Qin ◽  
Fang Guo ◽  
Bin Ren ◽  
John T. W. Yeow
Keyword(s):  
Mobile Robot ◽  
Visual Servoing ◽  
Dynamic Control ◽  
Kinematic Model ◽  
Image Plane ◽  
Adaptive Controller ◽  
Wheeled Mobile Robot ◽  
General Situation ◽  
Model Parameters ◽  
Complex Environment

This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control.

Dynamic Control of Wheeled Mobile Robot Using Sliding Mode

ROMANSY 11 ◽  
1997 ◽  
pp. 205-212 ◽  
Author(s):  
P. Ruaux ◽  
G. Bourdon ◽  
S. Delaplace
Keyword(s):  
Mobile Robot ◽  
Sliding Mode ◽  
Dynamic Control ◽  
Wheeled Mobile Robot

Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables*

2020 ◽  
Author(s):  
Roman Chertovskih ◽  
Anna Daryina ◽  
Askhat Diveev ◽  
Dmitry Karamzin ◽  
Fernando L. Pereira ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Front Wheel ◽  
Wheeled Mobile Robot ◽  
State Variables ◽  
Wheel Drive
Sign in / Sign up

Export Citation Format

Share Document