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Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics

In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure wiling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamic...

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Main Authors: Yu, Tian, Sidek, Shahrul Na'im, Sarkar , Nilanjan
Format: Conference or Workshop Item
Language:English
Published: 2010
Subjects:
TL Motor vehicles. Aeronautics. Astronautics
Online Access:http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf
http://irep.iium.edu.my/12827/
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spelling my.iium.irep.128272019-01-10T05:09:56Z http://irep.iium.edu.my/12827/ Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics Yu, Tian Sidek, Shahrul Na'im Sarkar , Nilanjan TL Motor vehicles. Aeronautics. Astronautics In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure wiling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system with second order nonholonomic constraints. Position tracking control law is developed to asymptotically stabilize the system while it is converging to the desired trajectory, if the traction is not saturated. Simulation results are provided to validate the theoretical results. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf Yu, Tian and Sidek, Shahrul Na'im and Sarkar , Nilanjan (2010) Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics. In: Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, 12-14 October 2009, Hollywood.
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic TL Motor vehicles. Aeronautics. Astronautics
spellingShingle TL Motor vehicles. Aeronautics. Astronautics
Yu, Tian
Sidek, Shahrul Na'im
Sarkar , Nilanjan
Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
description In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure wiling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system with second order nonholonomic constraints. Position tracking control law is developed to asymptotically stabilize the system while it is converging to the desired trajectory, if the traction is not saturated. Simulation results are provided to validate the theoretical results.
format Conference or Workshop Item
author Yu, Tian
Sidek, Shahrul Na'im
Sarkar , Nilanjan
author_facet Yu, Tian
Sidek, Shahrul Na'im
Sarkar , Nilanjan
author_sort Yu, Tian
title Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_short Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_full Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_fullStr Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_full_unstemmed Tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
title_sort tracking control for nonholonomic wheeled mobile robot with wheel slip dynamics
publishDate 2010
url http://irep.iium.edu.my/12827/1/TRACKING_CONTROL_FOR_NONHOLONOMIC_WHEELED_MOBILE_ROBOT_WITH_WHEEL_SLIP_DYNAMICS.pdf
http://irep.iium.edu.my/12827/
_version_ 1643618370014150656
score 13.211869

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