Robust control of full state tracking of a wheeled mobile robot

2002 ◽  
Author(s):  
Guangyan Xu ◽  
Danwei Wang ◽  
Keliang Zhou
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Full State ◽  
State Tracking

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 Robust Control of Wheeled Mobile Robot Moving on Rough Surface

2004 ◽  
Vol 70 (699) ◽  
pp. 3212-3219 ◽  
Author(s):  
Makoto WADA ◽  
Masahiro OYA ◽  
Hideki HONDA ◽  
Toshihiro KOBAYASHI ◽  
Fujio OHKAWA
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Rough Surface ◽  
Wheeled Mobile Robot

scholarly journals Wheeled mobile robot design with robustness properties

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774525 ◽  
Author(s):  
Yung Yue Chen ◽  
Yung Hsiang Chen ◽  
Chiung Yau Huang
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Control Design ◽  
Wheeled Mobile Robot ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Modeling Uncertainties ◽  
Nonlinear Robust

A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.

scholarly journals Dynamics and Robust Control of Wheeled Mobile Robot

1998 ◽  
Vol 31 (3) ◽  
pp. 147-152
Author(s):  
Zenon Hendzel ◽  
Wieslaw Żylski
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot
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