A motion control of a two-wheeled mobile robot

2009 IEEE Symposium on Computational Intelligence in Control and Automation, 2009

In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results.

Springer Handbook of Robotics, 2008

The paper deals with the modeling and control strategies of the motion of wheeled mobile robots. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. First, the vehicle kinematics model and the control strategies using a feedforward compensator are analyzed. Second, fuzzy reactive control of a mobile robot motion in an unknown environment with obstacles are proposed. Finally, the mobile robot simulation is illustrated.

IFAC Proceedings Volumes, 1993

AIIstrad. Kinematic and d)namic models of • car-like mobile robot aTe presented. Part of the kinematic model is applicable to most wheeled robots, and part is specific for vehicles with coupled front wheel Ilecring. The d)namic modelling process follows a IIrucIured method using bond graphs to develop the mathematical (state-space) model from the physical system description. The controller consists of two levels, the lower of which is specific to the MARIE robot and the higher of which is applicable to most mobile robots, wheeled or legged. The resuhing control structure is placed in • theoretical framework.

International Journal of Mechanical Engineering and Robotics Research

This research study aims to investigate various trajectory tracking control techniques for two-wheel mobile robots. First, a discrete optimal control technique is formulated to track time-varying desired trajectories, and then the performance is compared with the performance of discrete PID and fuzzy controllers. To design the discrete optimal controller, a Riccati equation is solved from a developed discrete-time linear model for the two-wheel mobile robot dynamics. Multiple numerical simulations are introduced to investigate the effectiveness of the proposed controllers.

Mechanika

2017

This paper presents modelling and control of DWR 1.0, a two wheeled mobile robot. This balancing robot is one of the applications of an inverted pendulum on a two wheel. A relatively recent offshoot of the classical inverted pendulum is the wheel inverted pendulum, popularized in contemporary culture by the Segway Personal Transporter. However, the mathematical model for a wheel inverted pendulum do not account for the full complexity of the construction of the platform. The mathematical model obtained in this work with the measured parameters is simulated using Matlab and PID control parameters are determined. Finally, PID control algorithm is implemented on the two-wheeled mobile robot to test the accuracy of the model.

2012

This paper proposed a tracking control law for the kinematic model of the nonholonomic wheeled mobile robot (WMR). A Lyapunov candidate function is used to prove the stability of the controller. Simulation results verify the effectiveness of the proposed control law, where, a better path tracking of the mobile robot is achieved.

Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1991

Using Lagrange formalism and differential geometry, a general dyiianiical model is derived for 3-wheels mobile robots with non holonoinic constraints. It is shown that a static state feedback allows to reduce the dyiiamics of the system to a form for which stabilizing input-output 1inea.rizing control is possible. I130

Archives of Civil and Mechanical Engineering

In this paper, the problem of the kinematics and dynamics of two constructional conceptions of a twowheeled mobile robot is considered. The wheeled mobile robot subjected to nonholonomic constraints moves over the inclined plane. Its trajectory consisting of the straight line and the curvilinear path described by the sinusoidal function is analyzed. The kinematic equations for arbitrarily chosen point of the system are derived by using classical equations of mechanics. Kinematic and dynamic parameters of motion from the solution of inverse kinematic and dynamic problem are obtained. Simulation results are presented to illustrate the efficiency of the approach.

In this paper, a non-linear control law, for nonholonomic mobile robots, that integrates kinematic controller with dynamic controller is presented in order to track a reference trajectory. The global asymptotic stability of the control law is proven using Lyapunov theory. The global stability is guaranteed since all the error states (position, orientation, linear and angular velocities) are presented in both the Lyapunov function and its derivative. The control law is implemented on a dynamic model of a differential-drive mobile robot that takes into consideration caster wheel effect. The generalized force created by the caster wheel is implemented using the virtual displacement method. Numerical simulations supported by experimental verification show that the integrated globally stable developed control law provides faster convergence to the reference path and eliminates overshoot over the kinematic controller alone.