Nonlinear control of a wheeled mobile robot with nonholonomic constraints

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

Volumn 6, Issue , 2004, Pages 5404-5410

  Chang, Chih Fu ^a   Huang, Chin I ^a   Fu, Li Chen ^a  

^a NATIONAL TAIWAN UNIVERSITY   (Taiwan)

Author keywords

Dynamic model; Nonlinear control; Nonlinear system; Stability analysis; Wheeted mobile robot

Indexed keywords

DYNAMIC MODEL; NONHOLONOMIC SYSTEMS; STABILITY ANALYSIS; WHEELED MOBILE ROBOTS (WMR);

ADAPTIVE CONTROL SYSTEMS; COMPUTER SIMULATION; CONSTRAINT THEORY; DIFFERENTIAL EQUATIONS; NONLINEAR CONTROL SYSTEMS; PROBLEM SOLVING; ROTORS; SERVOMECHANISMS;

MOBILE ROBOTS;

EID: 15744382694     PISSN: 1062922X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICSMC.2004.1401053     Document Type: Conference Paper

References (12)

1. W.E. Dixon, M. S. de Queiroz,D.M.Dawson and T.J. Flynn," Adaptive Tracking and Regulation of a Wheeled Mobile Robot with Controller/Update Law Modularity",IEEE Transactions on Control Systems Technology, Vol. 12,No.1, January 2004
2. Meng Ji,Zhen Zhang,Gautam Biswas and Nilanjan Sarkar,"Hybrid Fault Adaptive Control of a Wheeled Mobile Robot",IEEE/ASME Tranactions on Mechatronics, Vol. 8,No. 2, June 2003
3. Takanori Fukao, Hiroshi Nakagawa and Norihiki Adchi,"Adaptive Tracking Control of a Nonholonomic Mobile Robot",IEEE Tranactions on Robotics and Automation, Vol. 16, No.5, October 2000
4. Zvi Shiller, and Yu-Rwei Gwo,"Dynamic Motion Planning of Autonomous Vehicles", IEEE Tranactions on Robotic and Automation, Vol.7, No. 2, April 1991
5. Min-Soeng Kim, Jin-Ho Shin, Sun-Gi Hong and Ju-Jang Lee,"Design a robust adaptive dynamic controller for nonholonomic and disturbances", Mechatronics, Vol. 13, pp. 507-519, 2003
6. H.G. Tanner, K.J. Kyriakopoulos, N.I. Krikelis,"Advanced agritural robots: kinematics and dynamics of multiple mobile manipulators handling non-rigid material", Computers and Electronics in Agriculture, Vol. 31, pp.91-105, 2001
7. Zhong-Ping Jiang and Henk Nijmeijer,"Tracking Control of Mobile Robots: A Case Study in Backstepping",Automatica, Vol. 33, No. 7, pp. 1393-1399, 1997
8. Hemant Melkote and Farshad Khorrami,"Nonlinear Adaptive Control of Direct-Drive Bruless DC Motors and Applications to Robotic Manipulators", IEEE/ASME Tranactions on Mechatronics,Vol 4.No. 1,March 1999
9. Neyram Hemati,James S.Thorp and Ming C.Leu,"Robust Nonlinear Control of Brushless dc Motor for Direct-Drive Robotic Applications", IEEE Tranactions on Industrial Electronics,Vol. 37, No. 6, Dec. 1990
10. K.-H.Kim, I.-C.Baik,S.-K.Chung,M.-J.Youn,"Robust Speed Control of Brushless DC Motor Using Adaptive Inout-Output Linearisation "Technique",IEE Proc. -Electr. Power Appl.,Vol. 144,No. 6,Nov. 1997
11. Neyram Hemati and Ming C.Leu,"A Complete Model Characterization of Brushless dc Motors", IEEE Tranaction on Industry Applications, Vol. 28, No. 1,Jan/Feb 1992
12. Yutaka K., Yoshihiko K., Fumio M. and Tetsuo N.,"A Stable Tracking Control Method for a Non-Holonomic Mobile Robot", IEEE/RSJ Internal Workshop on Intelligent Robots and Systems IROS pp. 1236-1241, Nov,1991