Control design for an overactuated wheeled mobile robot

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 4, Issue PART 1, 2006, Pages 127-132

  Ploeg, Jeroen ^a   Vissers, John P M ^b   Nijmeijer, Henk ^c  

^a TNO   (Netherlands)

^b Vanderlande Industries   (Netherlands)

^c EINDHOVEN UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

Mobile robots; Nonlinear control; Position control; Robotics

Indexed keywords

ACTUATORS; CONTROLLERS; DEGREES OF FREEDOM (MECHANICS); FEEDBACK LINEARIZATION; MACHINE DESIGN; MOBILE ROBOTS; ROAD VEHICLES; ROBOTICS;

CONTROL DESIGN; HARDWARE-IN-THE-LOOP TESTS; NON LINEAR CONTROL; NUMBER OF ACTUATORS; POSITION CONTROLLER; REDUNDANT ACTUATORS; WEIGHT TRANSFER; WHEELED MOBILE ROBOT;

POSITION CONTROL;

EID: 79961156552     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20060912-3-de-2911.00025     Document Type: Conference Paper

References (8)

1. Bendtsen, J.D., P. Anderson and T.S. Pedersen (2002). Robust feedback-linearization based control design for a wheeled mobile robot. In: Proceedings of the 6th International Symposium on Advanced Vehicle Control (AVEC). Hiroshima, Japan.
2. Borenstein, J. (1995). Control and kinematic design of multi-degree-of-freedom mobile robots with compliant linkage. IEEE Transactions on Robotics and Automation 11(1), 21-35.
3. Campion, G., G. Bastin and B. D'Andrea-Novel (1996). Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE Transactions on Robotics and Automation 12(1), 47-62. (Pubitemid 126780447)
4. Canudas de Wit, C., B. Siciliano and G. Bastin (1996). Theory of Robot Control. Springer-Verlag. London.
5. Gietelink, O.J., J. Ploeg, B. de Schutter and M. Verhaegen (2004). VEHIL: A test facility for validation of fault management systems for advanced driver assistance systems. In: Proceedings of the 1st IFAC Symposium on Advances in Automotive Control. Salerno, Italy.
6. Nijmeijer, H. and A.J. van der Schaft (1990). Nonlinear Dynamical Control Systems. Springer-Verlag. New York.
7. Pacejka, H.B. (2002). Tire and Vehicle Dynamics. Butterworth-Heinemann. Oxford.
8. Ploeg, J., A.C.M. van der Knaap and D.J. Verburg (2002). ATS/AGV - design, implementation and evaluation of a high performance AGV. In: Proceedings of the IEEE Intelligent Vehicle Symposium. Versailles, France.