Nonholonomic wheeled mobile robot positioning controller using decoupling and variable structure model reference adaptive control

This work addresses the dynamic control problem of nonholonomic direct differential-drive two-actuated-wheeled mobile robot and presents a robot positioning controller, which requires information about the robot configuration (x, y and thetas, that are collected by an absolute positioning system). T...

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Bibliographic Details
Main Authors: Araujo, A.D., Alsina, P.J., Dias, S.M.
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Control systems
Electric variables control
Kinematics
Mobile robots
Programmable control
Robot control
Torque control
Vehicle dynamics
Wheels
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Summary:This work addresses the dynamic control problem of nonholonomic direct differential-drive two-actuated-wheeled mobile robot and presents a robot positioning controller, which requires information about the robot configuration (x, y and thetas, that are collected by an absolute positioning system). The control strategy developed uses the mobile robot dynamic model linear representation. In this way, we must be change the system controlled variables from x, y, thetas to S (denoting the robot linear displacement) and thetas. So we can use a linear controller to solve the control problem. The model linear representation is decoupled into two systems and we design a VS-MRAC controller to each one. Finally, simulated results are presented and commented
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2006.1657359