Position Control of Wheeled Mobile Robots Using Continuous State Feedback.

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

Gain-scheduled State Feedback Control of Continuous-time Lpv Systems: a Wheeled Mobile Robot Application

This paper investigates the gain-scheduled state feedback control design for continuous-time linear parameter varying (LPV) systems. It is assumed that the state-space matrices are affine functions of the timevarying parameters which belong to a known hyper-rectangle. The time-varying parameters are modeled as symmetric variables to provide new sufficient conditions for the synthesis of the gai...

Stable Switching Control of Wheeled Mobile Robots

Kinematic Control of Wheeled Mobile Robots

−− A generic kinematic control, which is directly applicable to any type of wheeled mobile robot, is proposed in this work. Firstly, it is presented the kinematic models of the four common types of wheels (fixed, centered orientable, castor and Swedish) a classification of wheeled mobile robots. Afterwards, it is proposed a kinematic control scheme with three nested loops: dynamic, kinematic an...

Modeling and Control of Wheeled Mobile Robots

The accurate model-based servo-control of wheeled mobile robots (WMRs) relies upon the formulation of realistic kinematic and dynamic models. We* identify six special WMR characteristics (closed-chains, hig her-pair joints, unactuated and unsensed joints, friction, and pulse-width modulation) that require methodologies for modeling and control beyond those conventionally applied to stationary m...