Journals Information
Universal Journal of Control and Automation(CEASE PUBLICATION) Vol. 4(4), pp. 43 - 52
DOI: 10.13189/ujca.2016.040401
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Dynamic Compensation Based Control of a Comprehensive Model of Wheeled Mobile Robots
Zhang Xu 1, Li Jie 2, Zhang Wei 2,*
1 School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China
2 Department of Electrical Engineering, Beijing Institute of Technology, Beijing, China
ABSTRACT
This paper uses the general framework of dynamic feedback linearization for stabilization of mobile robots. Instead of using unicycle model for control design, this paper uses a comprehensive model which is based on the physics of differential drive robots. The model used in the paper describes nonholonomic underactuated behavior of robot in terms of the physical dimensions and velocities of the wheels. Next, the proposed control is applied to this model and it is theoretically proven that dynamic feedback linearization can successfully solve the stabilization problem. To evaluate the performance of proposed control, another controller is designed based on the Lyapunov's method. The performance of the two controllers and the complexity of control gain tuning process are compared. Next, the robustness of the proposed control against uncertainties is studied. The results of analysis and simulations show that the proposed control has very good performance against parametric uncertainties.
KEYWORDS
Mobile Robots, Posture Stabilization, Differential Drive Robots, Dynamic Compensation, Lyapunov Based Control Design
Cite This Paper in IEEE or APA Citation Styles
(a). IEEE Format:
[1] Zhang Xu , Li Jie , Zhang Wei , "Dynamic Compensation Based Control of a Comprehensive Model of Wheeled Mobile Robots," Universal Journal of Control and Automation(CEASE PUBLICATION), Vol. 4, No. 4, pp. 43 - 52, 2016. DOI: 10.13189/ujca.2016.040401.
(b). APA Format:
Zhang Xu , Li Jie , Zhang Wei (2016). Dynamic Compensation Based Control of a Comprehensive Model of Wheeled Mobile Robots. Universal Journal of Control and Automation(CEASE PUBLICATION), 4(4), 43 - 52. DOI: 10.13189/ujca.2016.040401.