Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout
This paper describes the incorporation of active force control (AFC) scheme into two different resolved motion acceleration control (RMAC) models, i.e. RMAC with proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus- derivative (RMAC-PID). The two newly formulated contr...
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| Format: | Article |
| Language: | en |
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Faculty of Mechanical Engineering
2006
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| Online Access: | http://eprints.utm.my/6491/1/MusaMailah2006_MotionControlofNonholonomicWheeledMobile.pdf http://eprints.utm.my/6491/ https://www.fkm.utm.my/~mekanika |
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| _version_ | 1845471624537571328 |
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| author | Tang, Howe Hing Mailah, Musa |
| author_facet | Tang, Howe Hing Mailah, Musa |
| author_sort | Tang, Howe Hing |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This paper describes the incorporation of active force control (AFC) scheme into two different resolved motion acceleration control (RMAC) models, i.e. RMAC with proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus- derivative (RMAC-PID). The two newly formulated control models are subsequently implemented as the proposed motion controllers for the nonholonomic wheeled mobile robot (WMR). By embedding AFC into both the RMAC schemes, the performance of the robotic system was studied in which the WMR was required to track a collision-free trajectory in a structured layout that has been prescribed by a trajectory planner. The effectiveness of both the controllers were then experimented and compared to determine the accuracy and trackability of the WMR. The WMR was also subjected to disturbances for the testing of the system robustness. With appropriately computed inertia matrix and finely tuned RMAC control parameters, the WMR was found to be very robust and effective in trajectory tracking task in spite of the complexity of the operating and loading conditions. |
| format | Article |
| id | my.utm.eprints-6491 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2006 |
| publisher | Faculty of Mechanical Engineering |
| record_format | eprints |
| spelling | my.utm.eprints-64912012-08-16T06:09:57Z http://eprints.utm.my/6491/ Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout Tang, Howe Hing Mailah, Musa TJ Mechanical engineering and machinery This paper describes the incorporation of active force control (AFC) scheme into two different resolved motion acceleration control (RMAC) models, i.e. RMAC with proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus- derivative (RMAC-PID). The two newly formulated control models are subsequently implemented as the proposed motion controllers for the nonholonomic wheeled mobile robot (WMR). By embedding AFC into both the RMAC schemes, the performance of the robotic system was studied in which the WMR was required to track a collision-free trajectory in a structured layout that has been prescribed by a trajectory planner. The effectiveness of both the controllers were then experimented and compared to determine the accuracy and trackability of the WMR. The WMR was also subjected to disturbances for the testing of the system robustness. With appropriately computed inertia matrix and finely tuned RMAC control parameters, the WMR was found to be very robust and effective in trajectory tracking task in spite of the complexity of the operating and loading conditions. Faculty of Mechanical Engineering 2006 Article PeerReviewed application/pdf en http://eprints.utm.my/6491/1/MusaMailah2006_MotionControlofNonholonomicWheeledMobile.pdf Tang, Howe Hing and Mailah, Musa (2006) Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout. Jurnal Mekanikal (21). pp. 27-39. ISSN 0127-3396 https://www.fkm.utm.my/~mekanika |
| spellingShingle | TJ Mechanical engineering and machinery Tang, Howe Hing Mailah, Musa Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout |
| title | Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout |
| title_full | Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout |
| title_fullStr | Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout |
| title_full_unstemmed | Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout |
| title_short | Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout |
| title_sort | motion control of nonholonomic wheeled mobile robot in a structured layout |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/6491/1/MusaMailah2006_MotionControlofNonholonomicWheeledMobile.pdf http://eprints.utm.my/6491/ https://www.fkm.utm.my/~mekanika |
| url_provider | http://eprints.utm.my/ |