scholarly journals 2A2-M02 Adaptive Control of a Skid-Steering Vehicle with Feet for Moving on All Terrain(Mobile Robot with Special Mechanism)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2A2-M02_1-_2A2-M02_4
Author(s):  
Tokuji OKADA ◽  
Satoru TEZUKA ◽  
Yusuke Sasaki
Keyword(s):  
Adaptive Control ◽  
Mobile Robot ◽  
Special Mechanism ◽  
Skid Steering

scholarly journals DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

2016 ◽  
Vol 9 (2) ◽  
pp. 70 ◽  
Author(s):  
Osama Elshazly ◽  
Hossam Abbas ◽  
Zakarya Zyada
Keyword(s):  
Mobile Robot ◽  
Inverse Dynamics ◽  
Linear Quadratic Regulator ◽  
Nonlinear Controller ◽  
Linear Quadratic ◽  
Reduced Order ◽  
Lqr Control ◽  
Control Schemes ◽  
Skid Steering ◽  
Drive Model

In this paper, development of a reduced order, augmented dynamics-drive model that combines both the dynamics and drive subsystems of the skid steering mobile robot (SSMR) is presented. A Linear Quadratic Regulator (LQR) control algorithm with feed-forward compensation of the disturbances part included in the reduced order augmented dynamics-drive model is designed. The proposed controller has many advantages such as its simplicity in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system. Moreover, the good performance is also provided by the controller for the SSMR comparable with a nonlinear controller based on the inverse dynamics which depends on the availability of an accurate model describing the system. Simulation results illustrate the effectiveness and enhancement provided by the proposed controller.

Discontinuous Stabilizing Control of Skid-Steering Mobile Robot (SSMR)

2018 ◽  
Vol 95 (2) ◽  
pp. 253-266 ◽  
Author(s):  
Fady Ibrahim ◽  
A. A. Abouelsoud ◽  
Ahmed M. R. Fath El Bab ◽  
Tetsuya Ogata
Keyword(s):  
Mobile Robot ◽  
Stabilizing Control ◽  
Skid Steering

Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels

Robotica ◽  
2011 ◽  
Vol 30 (1) ◽  
pp. 123-132 ◽  
Author(s):  
Tokuji Okada ◽  
Abeer Mahmoud ◽  
Wagner Tanaka Botelho ◽  
Toshimi Shimizu
Keyword(s):  
Mobile Robot ◽  
Virtual Work ◽  
Mathematical Expression ◽  
Velocity Control ◽  
Trajectory Estimation ◽  
Control Rules ◽  
Ground Conditions ◽  
The Coefficient Of Friction ◽  
Skid Steering ◽  
The Mathematical Model

SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work expression to determine the robot's motion complying with driven wheels. The model also enables us to estimate trajectories for different ground conditions. A hybrid robot, PEOPLER-II, is used to demonstrate the predicted motions, including turns and spins, by following angular velocity control rules. Experimental data verifies that the proposed formulation and minimisation of virtual work are valid techniques for predicting a robot's trajectory. The method described is widely applicable to wheeled robots having independently driven wheels.

2A2-L14 Development of a Leg-Track Hybrid Mobile Robot to traverse on weak and steep slopes(Mobile Robot with Special Mechanism)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2A2-L14_1-_2A2-L14_4
Author(s):  
Ken AKIYAMA ◽  
Hiroaki KINOSHITA ◽  
Keiji NAGATANI ◽  
Kazuya YOSHIDA ◽  
Kenjiro TADAKUMA ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Special Mechanism ◽  
Steep Slopes

Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Robotica ◽  
2014 ◽  
Vol 34 (2) ◽  
pp. 449-467 ◽  
Author(s):  
Zhengcai Cao ◽  
Longjie Yin ◽  
Yili Fu ◽  
Jian S Dai
Keyword(s):  
Adaptive Control ◽  
Mobile Robot ◽  
Design Procedure ◽  
Dynamic Surface Control ◽  
Robot Kinematics ◽  
Robot Dynamics ◽  
Dynamic Surface ◽  
Stabilizing Controller ◽  
Nonholonomic Mobile Robot ◽  
Surface Control

SUMMARYThis paper investigates the vision-based pose stabilization of an electrically driven nonholonomic mobile robot with parametric uncertainties in robot kinematics, robot dynamics, and actuator dynamics. A robust adaptive visual stabilizing controller is proposed with the utilization of adaptive control, backstepping, and dynamic surface control techniques. For the controller design, the idea of backstepping is used and the adaptive control approach is adopted to deal with all uncertainties. We also apply the dynamic surface control method to avoid the repeated differentiations of virtual controllers existing in the backstepping design procedure such that the control development is easier to be implemented. Moreover, to attenuate the effect of disturbances on control performance, smooth robust compensators are exploited. It is proved that all signals in the closed-loop system can be guaranteed to be uniformly ultimately bounded. Finally, simulation results are presented to illustrate the performance of the proposed controller.

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