A Sensor Fusion Based Nonholonomic Wheeled Mobile Robot for Tracking Control
نویسندگان
چکیده
منابع مشابه
Lyapunov-Based Tracking Control for Nonholonomic Wheeled Mobile Robot
Abstract—This paper presents a tracking control strategy based on Lyapunov approach for nonholonomic wheeled mobile robot. This control strategy consists of two levels. First, a kinematic controller is developed to adjust the right and left wheel velocities. Using this velocity control law, the stability of the tracking error is guaranteed using Lyapunov approach. This kinematic controller cann...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملrobust sliding mode controller for trajectory tracking and attitude control of a nonholonomic spherical mobile robot
based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...
متن کاملAdaptive Sliding-Mode Dynamic Control For Path Tracking of Nonholonomic Wheeled Mobile Robot
This paper designs an adaptive sliding mode dynamic controller for the trajectory tracking of wheeled mobile robot. First, a kinematic controller based on backstepping technique is introduced to make the WMR follow a reference trajectory. Secondly, an adaptive sliding-mode dynamic controller (ASMDC) is proposed to make the actual velocity of the WMR reach the velocity command even in presence o...
متن کاملDynamic modeling and tracking control of a four wheeled nonholonomic mobile robot
This paper presents methodologies for kinematic/dynamic modeling and trajectory tracking for a four wheeled nonholonomic mobile robot. The vehicle with two front (steering) and two rear (driving) wheels is considered. The complete dynamic model of such a wheeled mobile robot is established using the Euler’s Lagrange equation and MATHEMATICA. Then a dynamical extension that makes possible the in...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2020
ISSN: 1424-8220
DOI: 10.3390/s20247055