Kinematics, dynamics and control design of 4WIS4WID mobile robots

Kinematic and dynamic modelling and corresponding control design of a four‐wheel‐independent steering and four‐wheel‐independent driving (4WIS4WID) mobile robot are presented in this study. Different from the differential or car‐like mobile robot, the 4WIS4WID mobile robot is controlled by four stee...

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Bibliographic Details
Published inJournal of engineering (Stevenage, England) Vol. 2015; no. 1; pp. 6 - 16
Main Authors Lee, Ming‐Han, Li, Tzuu‐Hseng S.
Format Journal Article
LanguageEnglish
Published The Institution of Engineering and Technology 01.01.2015
Wiley
Subjects
4WIS4WID mobile robot
dynamic modelling
dynamic sliding-mode control
four-wheel-independent driving mobile robot
four-wheel-independent steering mobile robot
kinematic modelling
Lyapunov methods
Lyapunov stability analysis
mobile robots
nonlinear control systems
robot dynamics
robot kinematics
trajectory control
trajectory tracking control scheme
variable structure systems
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Summary:Kinematic and dynamic modelling and corresponding control design of a four‐wheel‐independent steering and four‐wheel‐independent driving (4WIS4WID) mobile robot are presented in this study. Different from the differential or car‐like mobile robot, the 4WIS4WID mobile robot is controlled by four steering and four driving motors, so the control scheme should possess the ability to integrate and manipulate the four independent wheels. A trajectory tracking control scheme is developed for the 4WIS4WID mobile robot, where both non‐linear kinematic control and dynamic sliding‐mode control are designed. All of the stabilities of the kinematic and dynamic control laws are proved by Lyapunov stability analysis. Finally, the feasibility and validity of the proposed trajectory tracking control scheme are confirmed through computer simulations.
ISSN:2051-3305
2051-3305
DOI:10.1049/joe.2014.0241